Stapling instrument comprising a mounted shaft orientation sensor

ABSTRACT

A surgical instrument comprising an articulatable end effector and an articulation control system is disclosed. The articulation control system comprises actuators that, when actuated, cause the end effector to articulate in predetermined directions. When the end effector is rotated downwardly, the articulation control system flips, or switches, the response to the inputs from the actuators.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit under 35 U.S.C. § 119(e) of U.S.Provisional Patent Application Ser. No. 63/194,621, entitled SURGICALINSTRUMENT, filed May 28, 2021 and of U.S. Provisional PatentApplication Ser. No. 63/234,396, entitled STAPLING INSTRUMENT INCLUDINGCARTRIDGE INSERTION CONTROL, filed Aug. 18, 2021, the entire disclosuresof which are hereby incorporated by reference herein.

BACKGROUND

The present invention relates to surgical instruments and, in variousarrangements, to surgical stapling and cutting instruments and staplecartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a surgical instrument in accordance withat least one embodiment;

FIG. 1B is a left side elevation view of the surgical instrument of FIG.1 ;

FIG. 1C is a right side elevation view of the surgical instrument ofFIG. 1 ;

FIG. 1D is a front elevation view of the surgical instrument of FIG. 1 ;

FIG. 1E is a back elevation view of the surgical instrument of FIG. 1 ;

FIG. 1F is a plan view of the surgical instrument of FIG. 1 ;

FIG. 1G is a bottom view of the surgical instrument of FIG. 1 ;

FIG. 2 is a partial perspective view of the surgical instrument of FIG.1 ;

FIG. 3 is a partial perspective view of a shaft of the surgicalinstrument of FIG. 1 ;

FIG. 4 is a perspective view of a nozzle of the shaft of FIG. 3 ;

FIG. 5 is an elevational view of an orientation switch of the surgicalinstrument of FIG. 1 ;

FIG. 6 is a partial perspective view of a surgical instrument inaccordance with at least one embodiment comprising a handle including anorientation sensor and a shaft comprising magnetic elements detectableby the orientation sensor;

FIG. 7 is a partial elevational view of a surgical instrument inaccordance with at least one embodiment comprising a handle andarticulation actuators on opposing sides of the handle;

FIG. 8 is a partial plan view of the surgical instrument of FIG. 7 ;

FIG. 9 is a perspective view of a surgical instrument in accordance withat least one embodiment comprising a handle and a rotatable shaftincluding articulation actuators on opposing sides of the shaft;

FIG. 10 is an end view of the shaft of FIG. 9 ;

FIG. 11 is a perspective view of a surgical instrument in accordancewith at least one embodiment comprising a handle and a rotatable shaftincluding two articulation actuators on opposing sides of the shaft;

FIG. 12 is an end view of the shaft of FIG. 11 ;

FIG. 13 is a perspective view of a surgical instrument in accordancewith at least one embodiment comprising a slideable articulationactuator including two positions and a detent between the two positions;

FIG. 14 illustrates a capacitive switch including first and secondsides, a first light in the first side which illuminates when the firstside is contacted, and a second light in the second side whichilluminates when the second side is contacted;

FIG. 15 illustrates a two-stage rocker switch for articulating an endeffector of a surgical instrument in accordance with at least oneembodiment;

FIG. 16 is a partial top view of a surgical instrument in accordancewith at least one embodiment comprising an end effector and lightspositioned on opposite sides of the end effector which are illuminatedto indicate the direction in which the end effector is beingarticulated;

FIG. 17 is a partial elevational view of the surgical instrument of FIG.16 ;

FIG. 18 is a partial elevational view of a surgical instrument inaccordance with at least one embodiment comprising directionalindicators which are illuminated to indicate which way the end effectoris being articulated;

FIG. 19 is a perspective view of a surgical instrument in accordancewith at least one embodiment including a slideable articulation switchincluding three positions—an articulate left position, an articulateright position, and a center, or home, position;

FIG. 20 is an elevational view of a surgical instrument in accordancewith at least one embodiment including an articulation joystickactuatable along a longitudinal axis;

FIG. 21 is an elevational view of a surgical instrument in accordancewith at least one embodiment including an end effector and anarticulation joystick actuatable to articulate the end effector aboutmore than one axis;

FIG. 22A is a front elevational view of a surgical instrument inaccordance with at least one embodiment including a plurality ofarticulation controls;

FIG. 22B is a partial side elevational view of the surgical instrumentof FIG. 22A;

FIG. 23 is an elevational view of a surgical instrument in accordancewith at least one embodiment including a 4-way tactile articulationcontrol;

FIG. 24 is a partial elevational view of a surgical instrument inaccordance with at least one embodiment including a 4-way tactilearticulation control including a center, or home, actuator;

FIG. 25 is an elevational view of a surgical instrument in accordancewith at least one embodiment including a 4-way capacitive surface;

FIG. 26A illustrates a surgical instrument in accordance with at leastone embodiment including an end effector and lights positioned onopposite sides of the end effector which are illuminated to indicate thedirection in which the end effector is being articulated;

FIG. 26B is a perspective view of the surgical instrument of FIG. 26A;

FIG. 27 illustrates a surgical instrument in accordance with at leastone embodiment including an articulation joint, an end effectorarticulatable about the articulation joint, and a translatablearticulation actuator configured to rotate the end effector about thearticulation joint;

FIG. 28 is a partial perspective view of an articulatable end effector,an articulation actuator configured to rotate the end effector about anarticulation joint, and demarcations on the articulation actuator whichindicate the direction in which an end effector is articulated and/or isbeing articulated;

FIG. 29 is a perspective view of a surgical instrument in accordancewith at least one embodiment comprising a handle, a rotatable shaftextending from the handle, and a rotatable actuator on the handleconfigured to rotate the shaft about a longitudinal axis;

FIG. 30 is a perspective view of the surgical instrument of FIG. 29illustrating the shaft in a rotated position;

FIG. 31 is a perspective view of the surgical instrument of FIG. 29illustrated with a portion of the handle housing removed;

FIG. 32 is a partial detail view of the articulation joint of thesurgical instrument of FIG. 1 illustrated with some components removed;

FIG. 33 is a partial detail view of an articulation joint in accordancewith at least one alternative embodiment usable with the surgicalinstrument of FIG. 1 ;

FIG. 34 is a partial perspective view of an articulation drive pinextending from a frame of the end effector of the embodiment of FIG. 33;

FIG. 35 is a partial detail view of the embodiment of FIG. 33illustrating the end effector in an articulated position;

FIG. 36 is a partial detail view of the embodiment of FIG. 33illustrating the end effector in another articulated position;

FIG. 37 is a partial detail view of the embodiment of FIG. 33illustrating the end effector in another articulated position;

FIG. 38 is a cross-sectional view of the end effector of the surgicalinstrument of FIG. 1 illustrated in an open configuration;

FIG. 39 is a partial cross-sectional view of the end effector of thesurgical instrument of FIG. 1 illustrating tissue stops of the endeffector;

FIG. 40 is a partial cross-sectional view of the end effector of thesurgical instrument of FIG. 1 illustrating a pivot joint between astaple cartridge jaw and an anvil jaw of the end effector;

FIG. 41 is a partial plan view of the staple cartridge jaw of FIG. 40without a staple cartridge positioned in the staple cartridge jaw;

FIG. 42 is a partial perspective view of the anvil jaw of FIG. 40 ;

FIG. 43 is a partial top view of the pivot joint of FIG. 40 ;

FIG. 44 is a partial cross-sectional view of a staple cartridge jaw ofan end effector in accordance with at least one embodiment illustratedwithout a staple cartridge in the staple cartridge jaw;

FIG. 45A is a partial cross-sectional view of the end effector of FIG.44 in an open configuration;

FIG. 45B is a partial cross-sectional view of the end effector of FIG.44 in a closed configuration;

FIG. 46 is a partial cross-sectional view of the end effector of thesurgical instrument of FIG. 1 illustrating a firing member in an unfiredposition;

FIG. 47 is a partial cross-sectional view of the end effector of thesurgical instrument of FIG. 1 illustrating a cartridge stop on the anviljaw configured to stop the proximal insertion of a staple cartridge intothe staple cartridge jaw;

FIG. 48 is a partial perspective view of the anvil jaw of the surgicalinstrument of FIG. 1 illustrating surfaces configured to control theposition of the firing member of FIG. 46 in its unfired position whilethe end effector is in an open configuration;

FIG. 49 is a partial elevational view of the surgical instrument of FIG.1 ;

FIG. 50 is a partial perspective view of the surgical instrument of FIG.1 ;

FIG. 51 is a partial elevational view of a surgical instrument inaccordance with at least one embodiment;

FIG. 52 is a partial perspective view of the surgical instrument of FIG.51 ;

FIG. 53 is a partial elevational view of a surgical instrument inaccordance with at least one embodiment;

FIG. 54 is a partial perspective view of the surgical instrument of FIG.53 ;

FIG. 55 is a perspective view of the surgical instrument of FIG. 1 ;

FIG. 56 is a partial perspective view of a surgical instrument inaccordance with at least one embodiment;

FIG. 57 is a partial perspective view of a shaft of the surgicalinstrument of FIG. 56 ;

FIG. 58 is a control algorithm implemented by the surgical instrument ofFIG. 56 ;

FIG. 59 is a partial perspective view of a shaft of a surgicalinstrument in accordance with at least one embodiment;

FIG. 60 is a partial perspective view of a shaft of a surgicalinstrument in accordance with at least one embodiment;

FIG. 61 is a partial perspective view of a shaft of a surgicalinstrument in accordance with at least one embodiment;

FIG. 62 is a partial perspective view of a shaft of a surgicalinstrument in accordance with at least one embodiment;

FIG. 63 is a perspective view of a slip ring assembly of a surgicalinstrument in accordance with at least one embodiment;

FIG. 64 is another perspective view of the slip ring assembly of FIG. 63;

FIG. 65 is a perspective view of a shaft component of the surgicalinstrument of FIG. 63 ;

FIG. 66 is a partial perspective view of the surgical instrument of FIG.63 ;

FIG. 67 is a diagram depicting a shaft orientation sensor array inaccordance with at least one embodiment;

FIG. 68 is a partial elevational view of an end effector comprising ananvil jaw and a cartridge jaw, wherein the anvil jaw comprises a distalportion that rotatable between a first operational orientation and asecond operational orientation which is different than the firstoperational orientation, and wherein the distal portion of the anvil jawis illustrated in the first operational orientation;

FIG. 69 is a partial perspective view of the anvil jaw of FIG. 68 ,wherein the distal portion of the anvil jaw is illustrated in apartially rotated orientation;

FIG. 69A depicts a connector holding the distal portion to the anvil jawof FIG. 68 ;

FIG. 70 is a partial elevational view of the end effector of FIG. 68 ,wherein the distal portion of the anvil jaw is illustrated in the secondoperational orientation;

FIG. 71 is a partial perspective view of the end effector of FIG. 68 ,wherein the distal portion of the anvil jaw is illustrated in the secondoperational orientation;

FIG. 72 is a perspective view of the distal end of a proximalarticulation rod in accordance with at least one embodiment;

FIG. 73 is a perspective view of the interface between a proximalarticulation rod and a distal articulation rod of an articulation drivein accordance with at least one embodiment;

FIG. 73A is a detail view of the interface between the proximalarticulation rod of FIG. 73 and an articulation lock;

FIG. 74 is a perspective view of the interface between the proximalarticulation rod of FIG. 72 with the distal articulation rod of FIG. 73;

FIG. 74A is a detail view of the interface between the proximalarticulation rod of FIG. 72 with the articulation lock of FIG. 73A;

FIG. 75 is a perspective view of the articulation lock of FIG. 73A;

FIG. 76 is another perspective view of the articulation lock of FIG.73A;

FIG. 77 illustrates the range of motion for the distal articulation rodof FIG. 73 ;

FIG. 78 is an algorithm for a control system to assess and acquire theposition of an articulation system;

FIG. 79 depicts the end effector of the surgical instrument of FIG. 1and a speed chart algorithm of the staple firing system during a staplefiring stroke;

FIG. 80 depicts the end effector of the surgical instrument of FIG. 1and a speed chart algorithm of the staple firing system in accordancewith at least one embodiment;

FIG. 81 depicts the end effector of the surgical instrument of FIG. 1and a speed chart algorithm of the staple firing system during a staplefiring stroke;

FIG. 82A depicts a graph of the duty cycle of and firing forceexperienced by the staple firing system of the surgical instrument ofFIG. 1 during three staple firing strokes;

FIG. 82B depicts a graph of the duty cycle of and firing forceexperienced by the staple firing system of the surgical instrument ofFIG. 1 during three staple firing strokes at a higher firing speed thanthat of FIG. 82A;

FIG. 83A depicts a graph of the duty cycle, firing force, and firingspeed experienced by the staple firing system of the surgical instrumentof FIG. 1 during a staple firing stroke through 1.35 mm thick jejunumtissue;

FIG. 83B depicts a graph of the duty cycle, firing force, and firingspeed experienced by the staple firing system of the surgical instrumentof FIG. 1 during a staple firing stroke through 4 mm thick stomachtissue;

FIGS. 84A and 84B depict graphs comparing the firing force throughtissue as compared to a tissue analogue;

FIGS. 85A and 85B depict graphs demonstrating the duty cycle and thefiring speed experienced by the staple firing system of the surgicalinstrument of FIG. 1 during several staple firing strokes;

FIG. 86A depicts a graph of the duty cycle of the staple firing systemof the surgical instrument of FIG. 1 during staple firing strokesthrough thin jejunum tissue;

FIG. 86B depicts a graph of the duty cycle of the staple firing systemof the surgical instrument of FIG. 1 during staple firing strokesthrough thick jejunum tissue;

FIG. 86C depicts a graph of the duty cycle of the staple firing systemof the surgical instrument of FIG. 1 during staple firing strokesthrough stomach tissue;

FIG. 87 depicts a graph of the duty cycle of the staple firing system ofthe surgical instrument of FIG. 1 during a staple firing stroke in whichthe control system increased the speed of the staple firing stroke;

FIG. 88 depicts a graph of the duty cycle of the staple firing system ofthe surgical instrument of FIG. 1 during a staple firing stroke in whichthe control system substantially maintained the same speed throughoutthe staple firing stroke;

FIG. 89 depicts a graph of the duty cycle of the staple firing system ofthe surgical instrument of FIG. 1 during a staple firing stroke in whichthe control system decreased the speed of the staple firing stroke;

FIG. 90 is an elevational view of a surgical instrument including ahandle and a shaft in accordance with at least one embodiment;

FIG. 91 is a partial elevational view of the surgical instrument of FIG.90 illustrated with some components removed;

FIG. 92 is a perspective view of a frame of the handle of FIG. 90connected to a frame of the shaft of FIG. 90 ;

FIG. 93 is an exploded view of the handle frame and the shaft frame ofFIG. 92 ;

FIG. 94 is a perspective view of the handle of FIG. 90 ;

FIG. 95 is a partial perspective view of the handle of FIG. 90illustrated with some components removed;

FIG. 96 is a partial cross-sectional view of a switch of the handle ofFIG. 90 ;

FIG. 97 is a partial perspective view of a handle and a shaft of asurgical instrument in accordance with at least one embodiment;

FIG. 98 is a partial cross-sectional view of the shaft of FIG. 97illustrated in a first rotational position;

FIG. 99 is a partial cross-sectional view of the shaft of FIG. 97illustrated in a second rotational position;

FIG. 100 depicts a control system of the surgical instrument of FIG. 97;

FIG. 101 is an elevational view of the handle of FIG. 90 illustratedwith some components removed illustrating a closure actuator of thehandle in a partially-closed position;

FIG. 102 is a partial detail view of the closure system of the handle ofFIG. 90 illustrated in a partially-closed configuration;

FIG. 103 is a partial detail view of the closure system of the handle ofFIG. 90 illustrated in a fully-closed configuration;

FIG. 104 is a partial elevational view of a surgical instrumentcomprising a handle and a shaft in accordance with at least oneembodiment;

FIG. 105 is a partial elevational view of the surgical instrument ofFIG. 104 illustrated in a partially-closed configuration;

FIG. 106 is a partial elevational view of the surgical instrument ofFIG. 104 illustrated in a fully-closed configuration;

FIG. 107 is a partial elevational view of a surgical instrumentcomprising a handle and a shaft in accordance with at least oneembodiment;

FIG. 108 is a partial elevational view of the surgical instrument ofFIG. 107 depicting an actuatable closure lock;

FIG. 109 is a partial perspective view of the handle of the surgicalinstrument of FIG. 90 illustrated with some components removed;

FIG. 110 is a partial perspective view of the closure system of thesurgical instrument of FIG. 90 ;

FIG. 111 is a partial perspective view of a closure system in accordancewith at least embodiment;

FIG. 112A depicts a spring of the closure system of FIG. 110 ;

FIG. 112B depicts a spring of a closure system in accordance with atleast one embodiment;

FIG. 112C depicts a spring system of the closure system of FIG. 111 ;

FIG. 113 is a graph depicting the force generated by the spring systemof FIG. 112C;

FIG. 114 is a partial elevational view of the surgical instrument ofFIG. 90 illustrated with an illuminated articulation control when theclosure system is in a fully-closed configuration;

FIG. 115 is a partial elevational view of the surgical instrument ofFIG. 90 illustrated with an illuminated articulation control when theclosure system is in an open configuration;

FIG. 116 depicts a control system of the surgical instrument of FIG. 90;

FIG. 117 depicts a control system of the surgical instrument of FIG. 90;

FIG. 118 is a partial perspective view of the shaft and end effector ofthe surgical instrument of FIG. 90 illustrated with some componentsremoved;

FIG. 119 is a perspective view of the components of an articulation lockof the surgical instrument of FIG. 90 ;

FIG. 120 is a partial perspective view of the articulation lockcomponents of FIG. 119 ;

FIG. 121 is a plan view of an articulation lock in accordance with atleast one embodiment;

FIG. 122 is a plan view of a lock tab of the articulation lock of FIG.121 ;

FIG. 123 is a partial perspective view of a shaft and end effector of asurgical instrument in accordance with at least one embodimentillustrated with some components removed;

FIG. 124 illustrates an articulation lock of the surgical instrument ofFIG. 123 in an unlocked configuration;

FIG. 125 illustrates the articulation lock of FIG. 124 in an unlockedconfiguration;

FIG. 126 is a perspective view of some components of the articulationlock of FIG. 124 ;

FIG. 127 is a partial elevational view of the end effector of thesurgical instrument of FIG. 90 illustrated in a fully-clampedconfiguration;

FIG. 128 is a partial elevational view of the end effector of FIG. 90illustrated in an open configuration;

FIG. 129 is a cross-sectional view of the end effector of FIG. 90illustrated in a partially-closed configuration;

FIG. 130 is a partial cross-sectional view of a channel of the endeffector of FIG. 127 ;

FIG. 131 is a partial cross-sectional view of the shaft of the surgicalinstrument of FIG. 90 illustrated with some components removed;

FIG. 132 is a partial cross-sectional view of the shaft of FIG. 90illustrated with additional components removed;

FIG. 133 is a partial perspective view of an inner frame of the shaft ofFIG. 90 ;

FIG. 134 is a partial cross-sectional view of the shaft of FIG. 90 ;

FIG. 135 is a partial plan view of a shaft and end effector of asurgical instrument in accordance with at least one embodimentillustrated with some components removed;

FIG. 136 is a partial plan view of the shaft and end effector of FIG.135 illustrated with additional components removed;

FIG. 137 is a partial plan view of the shaft and end effector of FIG.135 illustrated with additional components removed;

FIG. 138 is a partial perspective view of a frame of the shaft of FIG.135 ;

FIG. 139 is a partial perspective view of a component of the frame ofthe shaft of FIG. 135 ;

FIG. 140 is a partial perspective view of a component of the frame ofthe shaft of FIG. 135 ;

FIG. 141 is a partial cross-sectional view of the frame of the shaft ofFIG. 135 ;

FIG. 142 is a partial cross-sectional view of the shaft and end effectorof FIG. 135 illustrated with components removed;

FIG. 143 is a plan view of a component of an articulation joint of thesurgical instrument of FIG. 135 ;

FIG. 144 is a plan view of the end effector of the surgical instrumentof FIG. 135 illustrated in an unarticulated position;

FIG. 145 illustrates the end effector of FIG. 144 articulated in a firstdirection;

FIG. 146 illustrates the end effector of FIG. 144 articulated in asecond direction;

FIG. 147 is a partial plan view of a jaw of the end effector of thesurgical instrument of FIG. 90 including a staple firing lockout;

FIG. 148 is a partial elevational view of a staple firing system and thestaple firing lockout of FIG. 147 ;

FIG. 149 depicts a portion of a power regulation circuit of the surgicalinstrument of FIG. 90 ;

FIG. 149A depicts another portion of the power regulation circuit ofFIG. 90 ;

FIG. 150 is a partial perspective view of the handle of FIG. 90 ;

FIG. 151 is a cover of the handle of FIG. 90 ;

FIG. 152 is a cover analog used during the manufacturing of the surgicalinstrument of FIG. 90 ;

FIG. 153 is a control circuit of the handle of FIG. 90 ;

FIG. 154 is a perspective view of a surgical instrument comprising ahandle, a shaft extending from the handle, and an end effector rotatablyconnected to the shaft about an articulation joint in accordance with atleast one embodiment;

FIG. 155 is an elevational view of the surgical instrument of FIG. 154 ;

FIG. 156 is a top view of the surgical instrument of FIG. 154 ;

FIG. 157 is an exploded view of the shaft of the surgical instrument ofFIG. 154 ;

FIG. 158 is an exploded view of the articulation joint of the surgicalinstrument of FIG. 154 ;

FIG. 159 is an exploded view of the handle of the surgical instrument ofFIG. 154 ;

FIG. 160 is a partial cross-sectional elevational view of the surgicalinstrument of FIG. 154 illustrating the end effector in an openconfiguration;

FIG. 161 is a partial cross-sectional elevational view of the surgicalinstrument of FIG. 154 illustrated with some components removed;

FIG. 162 is a perspective view of a firing member of the surgicalinstrument of FIG. 154 ;

FIG. 163 is a plan view of the end effector of the surgical instrumentof FIG. 154 in an unarticulated configuration;

FIG. 164 is a plan view of the end effector of the surgical instrumentof FIG. 154 articulated in a first direction;

FIG. 165 is a plan view of the end effector of the surgical instrumentof FIG. 154 articulated in a second direction;

FIG. 166 is a partial plan view of the surgical instrument of FIG. 154in an unarticulated configuration illustrated with some componentsremoved;

FIG. 167 is a partial plan view of the surgical instrument of FIG. 154in an articulated configuration illustrated with some componentsremoved;

FIG. 168 is a perspective view of an articulation lock of the surgicalinstrument of FIG. 154 ;

FIG. 169 is a perspective view of a clutch assembly of the surgicalinstrument of FIG. 154 in an engaged position in which an articulationdrive of the surgical instrument is engaged with the firing drive of thesurgical instrument by the clutch assembly;

FIG. 170 is a perspective view of the clutch assembly of FIG. 169 in adisengaged position in which the articulation drive is not engaged withthe firing drive;

FIG. 171 is a partial cross-sectional view of the surgical instrument ofFIG. 154 illustrating the clutch assembly of FIG. 169 in the disengagedposition of FIG. 170 ;

FIG. 172 is a detail view of the articulation drive of FIG. 169 engagedwith the firing drive;

FIG. 173 is a detail view of the articulation drive of FIG. 169disengaged from the firing drive;

FIG. 174 is a detail view of the firing drive of the surgical instrumentof FIG. 154 moving relative to the articulation drive;

FIG. 175 is a detail view of an interconnection between the firingmember of FIG. 162 and a firing rod of the firing drive;

FIG. 176 is a partial perspective view of the handle of FIG. 159illustrated with some components removed;

FIG. 177 is a partial perspective view of the handle of FIG. 159illustrated with additional components removed;

FIG. 178 is a partial perspective view of the handle of FIG. 159illustrating the motor of the firing drive of the surgical instrument ofFIG. 154 ;

FIG. 179 is an elevational view of the handle of FIG. 159 with thehousing removed;

FIG. 180 is a partial perspective view of the surgical instrument ofFIG. 154 illustrated with components removed;

FIG. 181 is another partial perspective view of the surgical instrumentof FIG. 154 illustrating an orientation switch configured to affect theoperation of the articulation controls;

FIG. 182 is a cross-sectional view of the surgical instrument of FIG.154 illustrating the orientation switch of FIG. 181 in a closed state;

FIG. 183 is a cross-sectional view of the surgical instrument of FIG.154 illustrating the orientation switch of FIG. 181 in an open state;

FIG. 184 is a perspective view of an end effector of a surgicalinstrument in accordance with at least one embodiment;

FIG. 185 is an exploded view of the end effector of FIG. 184 ;

FIG. 186 is another exploded view of the end effector of FIG. 184 ;

FIG. 187 is a partial plan view of the end effector of FIG. 184 ;

FIG. 188 is a perspective view of an end effector of a surgicalinstrument in accordance with at least one embodiment;

FIG. 189 is an exploded view of the end effector of FIG. 188 ;

FIG. 190 is a partial cross-sectional view of the end effector of FIG.188 ;

FIG. 191 is a perspective view of an end effector of a surgicalinstrument in accordance with at least one embodiment illustratedwithout a staple cartridge seated in a cartridge jaw of the endeffector;

FIG. 192 is a partial cross-sectional view of the end effector of FIG.191 illustrated in an open configuration with a staple cartridge seatedin the cartridge jaw;

FIG. 193 is a partial cross-sectional view of the end effector of FIG.191 illustrated in a clamped configuration;

FIG. 194 is a partial perspective view of a surgical stapling instrumentin accordance with at least one embodiment comprising a handle and ashaft assembly rotatable relative to the handle, wherein the handlecomprises an articulation actuator and visual indicators configured toindicate the state of the articulation actuator and to indicate theorientation of the shaft assembly relative to the handle;

FIG. 195 is an elevational view of the surgical stapling instrument ofFIG. 194 ;

FIG. 196 is an elevational view of the surgical stapling instrument ofFIG. 194 , wherein an indicator light is indicating that the controlsystem of the surgical stapling instrument has modified the output ofthe control system in response to the articulation actuator;

FIG. 197 is a display of a surgical hub in accordance with at least oneembodiment displaying the orientation status of an anvil jaw;

FIG. 198 is a display of a surgical hub in accordance with at least oneembodiment displaying the articulation actuator status of a surgicalinstrument assembly;

FIG. 199 is a partial cross-sectional view of a surgical staplingassembly in accordance with at least one embodiment comprising a handle,a shaft assembly, and a sensing system configured to monitor and detectthe orientation of the shaft assembly relative to the handle;

FIG. 200 is a partial cross-sectional view of a surgical staplingassembly in accordance with at least one embodiment comprising a handle,a shaft assembly, and a sensing system configured to monitor and detectthe orientation of the shaft assembly relative to the handle;

FIG. 201 is a perspective view of a nozzle of the surgical staplingassembly of FIG. 200 ;

FIG. 202 is a diagram of a magnet ring of the sensing system of FIG. 200in the nozzle of FIG. 201 ;

FIG. 203 is a diagram of a different magnet ring for use with thesensing system of FIG. 200 ;

FIG. 204 is an elevational view of a surgical stapling instrument inaccordance with at least one embodiment comprising a handle, a shaftassembly, and an end effector articulatable relative to the shaftassembly, wherein the surgical stapling instrument further comprisesvisual indicators configured to indicate to a user of the surgicalstapling instrument whether or not the surgical stapling instrument iscapable of articulating the end effector; FIG. 204 also illustrates ananvil jaw of the end effector in a fully open position;

FIG. 205 is an elevational view of the surgical stapling instrument ofFIG. 204 illustrating the anvil jaw in a first partially-clampedposition;

FIG. 206 is an elevational view of the surgical stapling instrument ofFIG. 204 illustrating the anvil jaw in a second partially-clampedposition;

FIG. 207 is an elevational view of the surgical stapling instrument ofFIG. 204 illustrating the anvil jaw in a fully-clamped position;

FIG. 208 is a partial perspective view of a surgical instrument assemblyin accordance with at least one embodiment comprising a closure driveincluding a closure trigger and a sensing system configured to sense themovement and position of the closure trigger; and

FIG. 209 is a partial perspective view of a surgical instrument assemblyin accordance with at least one embodiment comprising a transmissionsystem that selectively couples a firing drive and an articulation driveof the surgical instrument assembly and a sensing system configured tosense movement and position of a transmission collar of the transmissionsystem.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application also owns the following U.S. patentapplications that were filed on even date herewith and which are eachherein incorporated by reference in their respective entireties:

-   -   U.S. patent application entitled STAPLING INSTRUMENT COMPRISING        A FIRING LOCKOUT; Attorney Docket No. END9361USNP1/210202-1;    -   U.S. patent application entitled STAPLING INSTRUMENT COMPRISING        A CONTROL SYSTEM THAT CONTROLS A FIRING STROKE LENGTH; Attorney        Docket No. END9361 USNP2/210202-2;    -   U.S. patent application entitled STAPLING INSTRUMENT COMPRISING        JAW MOUNTS; Attorney Docket No. END9361 USNP4/210202-4;    -   U.S. patent application entitled STAPLING INSTRUMENT COMPRISING        A STAPLE CARTRIDGE INSERTION STOP; Attorney Docket No. END9361        USNP5/210202-5; and    -   U.S. patent application entitled STAPLING INSTRUMENT COMPRISING        AN ARTICULATION CONTROL DISPLAY; Attorney Docket No.        END9361USNP6/210202-6.

Applicant of the present application also owns the following U.S. patentapplications that were filed on Oct. 29, 2020 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 17/084,190, entitled SURGICAL        INSTRUMENT COMPRISING A STOWED CLOSURE ACTUATOR STOP;    -   U.S. patent application Ser. No. 17/084,198, entitled SURGICAL        INSTRUMENT COMPRISING AN INDICATOR WHICH INDICATES THAT AN        ARTICULATION DRIVE IS ACTUATABLE;    -   U.S. patent application Ser. No. 17/084,205, entitled SURGICAL        INSTRUMENT COMPRISING AN ARTICULATION INDICATOR;    -   U.S. patent application Ser. No. 17/084,258, entitled METHOD FOR        OPERATING A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 17/084,206, entitled SURGICAL        INSTRUMENT COMPRISING AN ARTICULATION LOCK;    -   U.S. patent application Ser. No. 17/084,215, entitled SURGICAL        INSTRUMENT COMPRISING A JAW ALIGNMENT SYSTEM;    -   U.S. patent application Ser. No. 17/084,229, entitled SURGICAL        INSTRUMENT COMPRISING SEALABLE INTERFACE;    -   U.S. patent application Ser. No. 17/084,180, entitled SURGICAL        INSTRUMENT COMPRISING A LIMITED TRAVEL SWITCH;    -   U.S. Design patent application Ser. No. 29/756,615, entitled        SURGICAL STAPLING ASSEMBLY;    -   U.S. Design patent application Ser. No. 29/756,620, entitled        SURGICAL STAPLING ASSEMBLY;    -   U.S. patent application Ser. No. 17/084,188, entitled SURGICAL        INSTRUMENT COMPRISING A STAGED VOLTAGE REGULATION START-UP        SYSTEM; and    -   U.S. patent application Ser. No. 17/084,193, entitled SURGICAL        INSTRUMENT COMPRISING A SENSOR CONFIGURED TO SENSE WHETHER AN        ARTICULATION DRIVE OF THE SURGICAL INSTRUMENT IS ACTUATABLE.

Applicant of the present application also owns the following U.S. patentapplications that were filed on Apr. 11, 2020 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 16/846,303, entitled METHODS        FOR STAPLING TISSUE USING A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/846,304, entitled        ARTICULATION ACTUATORS FOR A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/846,305, entitled        ARTICULATION DIRECTIONAL LIGHTS ON A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/846,307, entitled SHAFT        ROTATION ACTUATOR ON A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/846,308, entitled        ARTICULATION CONTROL MAPPING FOR A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/846,309, entitled        INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/846,310, entitled        INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/846,311, entitled ROTATABLE        JAW TIP FOR A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/846,312, entitled TISSUE        STOP FOR A SURGICAL INSTRUMENT; and    -   U.S. patent application Ser. No. 16/846,313, entitled        ARTICULATION PIN FOR A SURGICAL INSTRUMENT.

The entire disclosure of U.S. Provisional Patent Application Ser. No.62/840,715, entitled SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROLSYSTEM, filed Apr. 30, 2019, is hereby incorporated by reference herein.

Applicant of the present application owns the following U.S. patentapplications that were filed on Feb. 21, 2019 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 16/281,658, entitled METHODS        FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE        ROTARY CLOSURE AND FIRING SYSTEMS;    -   U.S. patent application Ser. No. 16/281,670, entitled STAPLE        CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFT A FIRING        MEMBER;    -   U.S. patent application Ser. No. 16/281,675, entitled SURGICAL        STAPLERS WITH ARRANGEMENTS FOR MAINTAINING A FIRING MEMBER        THEREOF IN A LOCKED CONFIGURATION UNLESS A COMPATIBLE CARTRIDGE        HAS BEEN INSTALLED THEREIN;    -   U.S. patent application Ser. No. 16/281,685, entitled SURGICAL        INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES;    -   U.S. patent application Ser. No. 16/281,693, entitled SURGICAL        STAPLING ASSEMBLY COMPRISING A LOCKOUT AND AN EXTERIOR ACCESS        ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT;    -   U.S. patent application Ser. No. 16/281,704, entitled SURGICAL        STAPLING DEVICES WITH FEATURES FOR BLOCKING ADVANCEMENT OF A        CAMMING ASSEMBLY OF AN INCOMPATIBLE CARTRIDGE INSTALLED THEREIN;    -   U.S. patent application Ser. No. 16/281,707, entitled STAPLING        INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT;    -   U.S. patent application Ser. No. 16/281,741, entitled SURGICAL        INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT;    -   U.S. patent application Ser. No. 16/281,762, entitled SURGICAL        STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING        LOCKOUT ARRANGEMENTS;    -   U.S. patent application Ser. No. 16/281,666, entitled SURGICAL        STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS;    -   U.S. patent application Ser. No. 16/281,672, entitled SURGICAL        STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES;    -   U.S. patent application Ser. No. 16/281,678, entitled ROTARY        DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND CHANNEL        ENGAGEMENT FEATURES; and    -   U.S. patent application Ser. No. 16/281,682, entitled SURGICAL        STAPLING DEVICE WITH SEPARATE ROTARY DRIVEN CLOSURE AND FIRING        SYSTEMS AND FIRING MEMBER THAT ENGAGES BOTH JAWS WHILE FIRING.

Applicant of the present application owns the following U.S. ProvisionalPatent applications that were filed on Feb. 19, 2019 and which are eachherein incorporated by reference in their respective entireties:

-   -   U.S. Provisional Patent Application Ser. No. 62/807,310,        entitled METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT        HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS;    -   U.S. Provisional Patent Application Ser. No. 62/807,319,        entitled SURGICAL STAPLING DEVICES WITH IMPROVED LOCKOUT        SYSTEMS; and    -   U.S. Provisional Patent Application Ser. No. 62/807,309,        entitled SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN        CLOSURE SYSTEMS.

Applicant of the present application owns the following U.S. ProvisionalPatent applications, filed on Mar. 28, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. Provisional Patent Application Ser. No. 62/649,302,        entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED        COMMUNICATION CAPABILITIES;    -   U.S. Provisional Patent Application Ser. No. 62/649,294,        entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS        AND CREATE ANONYMIZED RECORD;    -   U.S. Provisional Patent Application Ser. No. 62/649,300,        entitled SURGICAL HUB SITUATIONAL AWARENESS;    -   U.S. Provisional Patent Application Ser. No. 62/649,309,        entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN        OPERATING THEATER;    -   U.S. Provisional Patent Application Ser. No. 62/649,310,        entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;    -   U.S. Provisional Patent Application Ser. No. 62/649,291,        entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO        DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;    -   U.S. Provisional Patent Application Ser. No. 62/649,296,        entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;    -   U.S. Provisional Patent Application Ser. No. 62/649,333,        entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND        RECOMMENDATIONS TO A USER;    -   U.S. Provisional Patent Application Ser. No. 62/649,327,        entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND        AUTHENTICATION TRENDS AND REACTIVE MEASURES;    -   U.S. Provisional Patent Application Ser. No. 62/649,315,        entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS        NETWORK;    -   U.S. Provisional Patent Application Ser. No. 62/649,313,        entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;    -   U.S. Provisional Patent Application Ser. No. 62/649,320,        entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS;    -   U.S. Provisional Patent Application Ser. No. 62/649,307,        entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS; and    -   U.S. Provisional Patent Application Ser. No. 62/649,323,        entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS.

Applicant of the present application owns the following U.S. ProvisionalPatent application, filed on Mar. 30, 2018, which is herein incorporatedby reference in its entirety:

-   -   U.S. Provisional Patent Application Ser. No. 62/650,887,        entitled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES.

Applicant of the present application owns the following U.S. patentapplication, filed on Dec. 4, 2018, which is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 16/209,423, entitled METHOD OF        COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY        DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS.

Applicant of the present application owns the following U.S. patentapplications that were filed on Aug. 20, 2018 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 16/105,101, entitled METHOD FOR        FABRICATING SURGICAL STAPLER ANVILS;    -   U.S. patent application Ser. No. 16/105,183, entitled REINFORCED        DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL;    -   U.S. patent application Ser. No. 16/105,150, entitled SURGICAL        STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE        STABILITY FEATURES;    -   U.S. patent application Ser. No. 16/105,098, entitled        FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS;    -   U.S. patent application Ser. No. 16/105,140, entitled SURGICAL        STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID        TISSUE PINCH;    -   U.S. patent application Ser. No. 16/105,081, entitled METHOD FOR        OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/105,094, entitled SURGICAL        INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS;    -   U.S. patent application Ser. No. 16/105,097, entitled POWERED        SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT        LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS;    -   U.S. patent application Ser. No. 16/105,104, entitled POWERED        ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING        ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A        FIRING DRIVE SYSTEM;    -   U.S. patent application Ser. No. 16/105,119, entitled        ARTICULATABLE MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED        ARTICULATION MOTOR ARRANGEMENTS;    -   U.S. patent application Ser. No. 16/105,160, entitled SWITCHING        ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL        INSTRUMENTS; and    -   U.S. Design patent application Ser. No. 29/660,252, entitled        SURGICAL STAPLER ANVILS.

Applicant of the present application owns the following U.S. patentapplications and U.S. patents that are each herein incorporated byreference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/386,185, entitled SURGICAL        STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF,        now U.S. Patent Application Publication No. 2018/0168642;    -   U.S. patent application Ser. No. 15/386,230, entitled        ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, now U.S. Patent        Application Publication No. 2018/0168649;    -   U.S. patent application Ser. No. 15/386,221, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS, now U.S. Patent        Application Publication No. 2018/0168646;    -   U.S. patent application Ser. No. 15/386,209, entitled SURGICAL        END EFFECTORS AND FIRING MEMBERS THEREOF, now U.S. Patent        Application Publication No. 2018/0168645;    -   U.S. patent application Ser. No. 15/386,198, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL        ASSEMBLIES, now U.S. Patent Application Publication No.        2018/0168644;    -   U.S. patent application Ser. No. 15/386,240, entitled SURGICAL        END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR, now U.S.        Patent Application Publication No. 2018/0168651;    -   U.S. patent application Ser. No. 15/385,939, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Patent Application Publication No.        2018/0168629;    -   U.S. patent application Ser. No. 15/385,941, entitled SURGICAL        TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN        CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND        ARTICULATION AND FIRING SYSTEMS, now U.S. Patent Application        Publication No. 2018/0168630;    -   U.S. patent application Ser. No. 15/385,943, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent        Application Publication No. 2018/0168631;    -   U.S. patent application Ser. No. 15/385,950, entitled SURGICAL        TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, now U.S.        Patent Application Publication No. 2018/0168635;    -   U.S. patent application Ser. No. 15/385,945, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Patent Application Publication No.        2018/0168632;    -   U.S. patent application Ser. No. 15/385,946, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent        Application Publication No. 2018/0168633;    -   U.S. patent application Ser. No. 15/385,951, entitled SURGICAL        INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW        OPENING DISTANCE, now U.S. Patent Application Publication No.        2018/0168636;    -   U.S. patent application Ser. No. 15/385,953, entitled METHODS OF        STAPLING TISSUE, now U.S. Patent Application Publication No.        2018/0168637;    -   U.S. patent application Ser. No. 15/385,954, entitled FIRING        MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL        END EFFECTORS, now U.S. Patent Application Publication No.        2018/0168638;    -   U.S. patent application Ser. No. 15/385,955, entitled SURGICAL        END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, now U.S.        Patent Application Publication No. 2018/0168639;    -   U.S. patent application Ser. No. 15/385,948, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent        Application Publication No. 2018/0168584;    -   U.S. patent application Ser. No. 15/385,956, entitled SURGICAL        INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, now U.S. Patent        Application Publication No. 2018/0168640;    -   U.S. patent application Ser. No. 15/385,958, entitled SURGICAL        INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING        SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT,        now U.S. Patent Application Publication No. 2018/0168641;    -   U.S. patent application Ser. No. 15/385,947, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Patent Application Publication No.        2018/0168634;    -   U.S. patent application Ser. No. 15/385,896, entitled METHOD FOR        RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, now U.S. Patent        Application Publication No. 2018/0168597;    -   U.S. patent application Ser. No. 15/385,898, entitled        STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES        OF STAPLES now U.S. Patent Application Publication No.        2018/0168599;    -   U.S. patent application Ser. No. 15/385,899, entitled SURGICAL        INSTRUMENT COMPRISING IMPROVED JAW CONTROL, now U.S. Patent        Application Publication No. 2018/0168600;    -   U.S. patent application Ser. No. 15/385,901, entitled STAPLE        CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS        DEFINED THEREIN, now U.S. Patent Application Publication No.        2018/0168602;    -   U.S. patent application Ser. No. 15/385,902, entitled SURGICAL        INSTRUMENT COMPRISING A CUTTING MEMBER, now U.S. Patent        Application Publication No. 2018/0168603;    -   U.S. patent application Ser. No. 15/385,904, entitled STAPLE        FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT        CARTRIDGE LOCKOUT, now U.S. Patent Application Publication No.        2018/0168605;    -   U.S. patent application Ser. No. 15/385,905, entitled FIRING        ASSEMBLY COMPRISING A LOCKOUT, now U.S. Patent Application        Publication No. 2018/0168606;    -   U.S. patent application Ser. No. 15/385,907, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A        FIRING ASSEMBLY LOCKOUT, now U.S. Patent Application Publication        No. 2018/0168608;    -   U.S. patent application Ser. No. 15/385,908, entitled FIRING        ASSEMBLY COMPRISING A FUSE, now U.S. Patent Application        Publication No. 2018/0168609;    -   U.S. patent application Ser. No. 15/385,909, entitled FIRING        ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, now U.S.        Patent Application Publication No. 2018/0168610;    -   U.S. patent application Ser. No. 15/385,920, entitled        STAPLE-FORMING POCKET ARRANGEMENTS, now U.S. Patent Application        Publication No. 2018/0168620;    -   U.S. patent application Ser. No. 15/385,913, entitled ANVIL        ARRANGEMENTS FOR SURGICAL STAPLERS, now U.S. Patent Application        Publication No. 2018/0168614;    -   U.S. patent application Ser. No. 15/385,914, entitled METHOD OF        DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES        WITH THE SAME SURGICAL STAPLING INSTRUMENT, now U.S. Patent        Application Publication No. 2018/0168615;    -   U.S. patent application Ser. No. 15/385,893, entitled        BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS, now U.S.        Patent Application Publication No. 2018/0168594;    -   U.S. patent application Ser. No. 15/385,929, entitled CLOSURE        MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS        WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now U.S.        Patent Application Publication No. 2018/0168626;    -   U.S. patent application Ser. No. 15/385,911, entitled SURGICAL        STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING        SYSTEMS, now U.S. Patent Application Publication No.        2018/0168612;    -   U.S. patent application Ser. No. 15/385,927, entitled SURGICAL        STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, now U.S.        Patent Application Publication No. 2018/0168625;    -   U.S. patent application Ser. No. 15/385,917, entitled STAPLE        CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS,        now U.S. Patent Application Publication No. 2018/0168617;    -   U.S. patent application Ser. No. 15/385,900, entitled        STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS        AND POCKET SIDEWALLS, now U.S. Patent Application Publication        No. 2018/0168601;    -   U.S. patent application Ser. No. 15/385,931, entitled        NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR        SURGICAL STAPLERS, now U.S. Patent Application Publication No.        2018/0168627;    -   U.S. patent application Ser. No. 15/385,915, entitled FIRING        MEMBER PIN ANGLE, now U.S. Patent Application Publication No.        2018/0168616;    -   U.S. patent application Ser. No. 15/385,897, entitled        STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING        SURFACE GROOVES, now U.S. Patent Application Publication No.        2018/0168598;    -   U.S. patent application Ser. No. 15/385,922, entitled SURGICAL        INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, now U.S. Patent        Application Publication No. 2018/0168622;    -   U.S. patent application Ser. No. 15/385,924, entitled SURGICAL        INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, now U.S. Patent        Application Publication No. 2018/0168624;    -   U.S. patent application Ser. No. 15/385,910, entitled ANVIL        HAVING A KNIFE SLOT WIDTH, now U.S. Patent Application        Publication No. 2018/0168611;    -   U.S. patent application Ser. No. 15/385,903, entitled CLOSURE        MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2018/0168604;    -   U.S. patent application Ser. No. 15/385,906, entitled FIRING        MEMBER PIN CONFIGURATIONS, now U.S. Patent Application        Publication No. 2018/0168607;    -   U.S. patent application Ser. No. 15/386,188, entitled STEPPED        STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, now U.S. Patent        Application Publication No. 2018/0168585;    -   U.S. patent application Ser. No. 15/386,192, entitled STEPPED        STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES,        now U.S. Patent Application Publication No. 2018/0168643;    -   U.S. patent application Ser. No. 15/386,206, entitled STAPLE        CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, now U.S.        Patent Application Publication No. 2018/0168586;    -   U.S. patent application Ser. No. 15/386,226, entitled DURABILITY        FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL        STAPLING INSTRUMENTS, now U.S. Patent Application Publication        No. 2018/0168648;    -   U.S. patent application Ser. No. 15/386,222, entitled SURGICAL        STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING        FEATURES, now U.S. Patent Application Publication No.        2018/0168647;    -   U.S. patent application Ser. No. 15/386,236, entitled CONNECTION        PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING        INSTRUMENTS, now U.S. Patent Application Publication No.        2018/0168650;    -   U.S. patent application Ser. No. 15/385,887, entitled METHOD FOR        ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND,        ALTERNATIVELY, TO A SURGICAL ROBOT, now U.S. Patent Application        Publication No. 2018/0168589;    -   U.S. patent application Ser. No. 15/385,889, entitled SHAFT        ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR        USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM, now U.S. Patent        Application Publication No. 2018/0168590;    -   U.S. patent application Ser. No. 15/385,890, entitled SHAFT        ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE        SYSTEMS, now U.S. Patent Application Publication No.        2018/0168591;    -   U.S. patent application Ser. No. 15/385,891, entitled SHAFT        ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A        ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS, now U.S. Patent        Application Publication No. 2018/0168592;    -   U.S. patent application Ser. No. 15/385,892, entitled SURGICAL        SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION        STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, now        U.S. Patent Application Publication No. 2018/0168593;    -   U.S. patent application Ser. No. 15/385,894, entitled SHAFT        ASSEMBLY COMPRISING A LOCKOUT, now U.S. Patent Application        Publication No. 2018/0168595;    -   U.S. patent application Ser. No. 15/385,895, entitled SHAFT        ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, now        U.S. Patent Application Publication No. 2018/0168596;    -   U.S. patent application Ser. No. 15/385,916, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168575;    -   U.S. patent application Ser. No. 15/385,918, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168618;    -   U.S. patent application Ser. No. 15/385,919, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168619;    -   U.S. patent application Ser. No. 15/385,921, entitled SURGICAL        STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO        DISENGAGE FIRING MEMBER LOCKOUT FEATURES, now U.S. Patent        Application Publication No. 2018/0168621;    -   U.S. patent application Ser. No. 15/385,923, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168623;    -   U.S. patent application Ser. No. 15/385,925, entitled JAW        ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A        FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED        CARTRIDGE IS INSTALLED IN THE END EFFECTOR, now U.S. Patent        Application Publication No. 2018/0168576;    -   U.S. patent application Ser. No. 15/385,926, entitled AXIALLY        MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS        TO JAWS OF SURGICAL INSTRUMENTS, now U.S. Patent Application        Publication No. 2018/0168577;    -   U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE        COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW        AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2018/0168578;    -   U.S. patent application Ser. No. 15/385,930, entitled SURGICAL        END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR        OPENING AND CLOSING END EFFECTOR JAWS, now U.S. Patent        Application Publication No. 2018/0168579;    -   U.S. patent application Ser. No. 15/385,932, entitled        ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT        ARRANGEMENT, now U.S. Patent Application Publication No.        2018/0168628;    -   U.S. patent application Ser. No. 15/385,933, entitled        ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE        LINKAGE DISTAL OF AN ARTICULATION LOCK, now U.S. Patent        Application Publication No. 2018/0168580;    -   U.S. patent application Ser. No. 15/385,934, entitled        ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN        ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE        SYSTEM, now U.S. Patent Application Publication No.        2018/0168581;    -   U.S. patent application Ser. No. 15/385,935, entitled LATERALLY        ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END        EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED        CONFIGURATION, now U.S. Patent Application Publication No.        2018/0168582;    -   U.S. patent application Ser. No. 15/385,936, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE        AMPLIFICATION FEATURES, now U.S. Patent Application Publication        No. 2018/0168583;    -   U.S. patent application Ser. No. 14/318,996, entitled FASTENER        CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS,        now U.S. Patent Application Publication No. 2015/0297228;    -   U.S. patent application Ser. No. 14/319,006, entitled FASTENER        CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDING FASTENER        CONTROL FEATURES, now U.S. Pat. No. 10,010,324;    -   U.S. patent application Ser. No. 14/318,991, entitled SURGICAL        FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS, now        U.S. Pat. No. 9,833,241;    -   U.S. patent application Ser. No. 14/319,004, entitled SURGICAL        END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS, now        U.S. Pat. No. 9,844,369;    -   U.S. patent application Ser. No. 14/319,008, entitled FASTENER        CARTRIDGE COMPRISING NON-UNIFORM FASTENERS, now U.S. Patent        Application Publication No. 2015/0297232;    -   U.S. patent application Ser. No. 14/318,997, entitled FASTENER        CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS, now        U.S. Patent Application Publication No. 2015/0297229;    -   U.S. patent application Ser. No. 14/319,002, entitled FASTENER        CARTRIDGE COMPRISING TISSUE CONTROL FEATURES, now U.S. Pat. No.        9,877,721;    -   U.S. patent application Ser. No. 14/319,013, entitled FASTENER        CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS, now        U.S. Patent Application Publication No. 2015/0297233; and    -   U.S. patent application Ser. No. 14/319,016, entitled FASTENER        CARTRIDGE INCLUDING A LAYER ATTACHED THERETO, now U.S. Patent        Application Publication No. 2015/0297235.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/191,775, entitled STAPLE        CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES, now U.S.        Patent Application Publication No. 2017/0367695;    -   U.S. patent application Ser. No. 15/191,807, entitled STAPLING        SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES, now U.S.        Patent Application Publication No. 2017/0367696;    -   U.S. patent application Ser. No. 15/191,834, entitled STAMPED        STAPLES AND STAPLE CARTRIDGES USING THE SAME, now U.S. Patent        Application Publication No. 2017/0367699;    -   U.S. patent application Ser. No. 15/191,788, entitled STAPLE        CARTRIDGE COMPRISING OVERDRIVEN STAPLES, now U.S. Patent        Application Publication No. 2017/0367698; and    -   U.S. patent application Ser. No. 15/191,818, entitled STAPLE        CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS, now U.S.        Patent Application Publication No. 2017/0367697.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. Design patent application Ser. No. 29/569,218, entitled        SURGICAL FASTENER, now U.S. Design patent No. D826,405;    -   U.S. Design patent application Ser. No. 29/569,227, entitled        SURGICAL FASTENER, now U.S. Design patent No. D822,206;    -   U.S. Design patent application Ser. No. 29/569,259, entitled        SURGICAL FASTENER CARTRIDGE; and    -   U.S. Design patent application Ser. No. 29/569,264, entitled        SURGICAL FASTENER CARTRIDGE.

Applicant of the present application owns the following patentapplications that were filed on Apr. 1, 2016 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/089,325, entitled METHOD FOR        OPERATING A SURGICAL STAPLING SYSTEM, now U.S. Patent        Application Publication No. 2017/0281171;    -   U.S. patent application Ser. No. 15/089,321, entitled MODULAR        SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY, now U.S. Pat. No.        10,271,851;    -   U.S. patent application Ser. No. 15/089,326, entitled SURGICAL        STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE        DISPLAY FIELD, now U.S. Patent Application Publication No.        2017/0281172;    -   U.S. patent application Ser. No. 15/089,263, entitled SURGICAL        INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION, now        U.S. Patent Application Publication No. 2017/0281165;    -   U.S. patent application Ser. No. 15/089,262, entitled ROTARY        POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT        SYSTEM, now U.S. Patent Application Publication No.        2017/0281161;    -   U.S. patent application Ser. No. 15/089,277, entitled SURGICAL        CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE        MEMBER, now U.S. Patent Application Publication No.        2017/0281166;    -   U.S. patent application Ser. No. 15/089,296, entitled        INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END        EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS, now        U.S. Patent Application Publication No. 2017/0281168;    -   U.S. patent application Ser. No. 15/089,258, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION, now U.S.        Patent Application Publication No. 2017/0281178;    -   U.S. patent application Ser. No. 15/089,278, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF        TISSUE, now U.S. Patent Application Publication No.        2017/0281162;    -   U.S. patent application Ser. No. 15/089,284, entitled SURGICAL        STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT, now U.S. Patent        Application Publication No. 2017/0281186;    -   U.S. patent application Ser. No. 15/089,295, entitled SURGICAL        STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT, now        U.S. Patent Application Publication No. 2017/0281187;    -   U.S. patent application Ser. No. 15/089,300, entitled SURGICAL        STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT, now U.S.        Patent Application Publication No. 2017/0281179;    -   U.S. patent application Ser. No. 15/089,196, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT, now U.S.        Patent Application Publication No. 2017/0281183;    -   U.S. patent application Ser. No. 15/089,203, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT, now U.S.        Patent Application Publication No. 2017/0281184;    -   U.S. patent application Ser. No. 15/089,210, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT, now U.S.        Patent Application Publication No. 2017/0281185;    -   U.S. patent application Ser. No. 15/089,324, entitled SURGICAL        INSTRUMENT COMPRISING A SHIFTING MECHANISM, now U.S. Patent        Application Publication No. 2017/0281170;    -   U.S. patent application Ser. No. 15/089,335, entitled SURGICAL        STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS, now U.S.        Patent Application Publication No. 2017/0281155;    -   U.S. patent application Ser. No. 15/089,339, entitled SURGICAL        STAPLING INSTRUMENT, now U.S. Patent Application Publication No.        2017/0281173;    -   U.S. patent application Ser. No. 15/089,253, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES        HAVING DIFFERENT HEIGHTS, now U.S. Patent Application        Publication No. 2017/0281177;    -   U.S. patent application Ser. No. 15/089,304, entitled SURGICAL        STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET, now U.S.        Patent Application Publication No. 2017/0281188;    -   U.S. patent application Ser. No. 15/089,331, entitled ANVIL        MODIFICATION MEMBERS FOR SURGICAL STAPLERS, now U.S. Patent        Application Publication No. 2017/0281180;    -   U.S. patent application Ser. No. 15/089,336, entitled STAPLE        CARTRIDGES WITH ATRAUMATIC FEATURES, now U.S. Patent Application        Publication No. 2017/0281164;    -   U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR        STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT, now U.S.        Patent Application Publication No. 2017/0281189;    -   U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR        STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM, now U.S. Patent        Application Publication No. 2017/0281169; and    -   U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR        STAPLING SYSTEM COMPRISING LOAD CONTROL, now U.S. Patent        Application Publication No. 2017/0281174.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Dec. 30, 2015 whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS        FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0189018;    -   U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0189019; and    -   U.S. patent application Ser. No. 14/984,552, entitled SURGICAL        INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS,        now U.S. Pat. No. 10,265,068.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 9, 2016, whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/019,220, entitled SURGICAL        INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END        EFFECTOR, now U.S. Pat. No. 10,245,029;    -   U.S. patent application Ser. No. 15/019,228, entitled SURGICAL        INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS, now        U.S. Patent Application Publication No. 2017/0224342;    -   U.S. patent application Ser. No. 15/019,196, entitled SURGICAL        INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY        CONSTRAINT, now U.S. Patent Application Publication No.        2017/0224330;    -   U.S. patent application Ser. No. 15/019,206, entitled SURGICAL        INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE        RELATIVE TO AN ELONGATE SHAFT ASSEMBLY, now U.S. Patent        Application Publication No. 2017/0224331;    -   U.S. patent application Ser. No. 15/019,215, entitled SURGICAL        INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS, now        U.S. Patent Application Publication No. 2017/0224332;    -   U.S. patent application Ser. No. 15/019,227, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK        ARRANGEMENTS, now U.S. Patent Application Publication No.        2017/0224334;    -   U.S. patent application Ser. No. 15/019,235, entitled SURGICAL        INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN        ARTICULATION SYSTEMS, now U.S. Pat. No. 10,245,030;    -   U.S. patent application Ser. No. 15/019,230, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM        ARRANGEMENTS, now U.S. Patent Application Publication No.        2017/0224335; and    -   U.S. patent application Ser. No. 15/019,245, entitled SURGICAL        INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S.        Patent Application Publication No. 2017/0224343.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 12, 2016, whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,258,331;    -   U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0231626;    -   U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0231627; and    -   U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0231628.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/742,925, entitled SURGICAL        END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S.        Pat. No. 10,182,818;    -   U.S. patent application Ser. No. 14/742,941, entitled SURGICAL        END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now        U.S. Pat. No. 10,052,102;    -   U.S. patent application Ser. No. 14/742,933, entitled SURGICAL        STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING        FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING,        now U.S. Pat. No. 10,154,841;    -   U.S. patent application Ser. No. 14/742,914, entitled MOVABLE        FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2016/0367255;    -   U.S. patent application Ser. No. 14/742,900, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM        STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION        SUPPORT, now U.S. Patent Application Publication No.        2016/0367254;    -   U.S. patent application Ser. No. 14/742,885, entitled DUAL        ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE        SURGICAL INSTRUMENTS, now U.S. Patent Application Publication        No. 2016/0367246; and    -   U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL        ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,178,992.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/640,746, entitled POWERED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,808,246;    -   U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE        LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2016/02561185;    -   U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE        TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR        MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication        No. 2016/0256154;    -   U.S. patent application Ser. No. 14/640,935, entitled OVERLAID        MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE        TISSUE COMPRESSION, now U.S. Patent Application Publication No.        2016/0256071;    -   U.S. patent application Ser. No. 14/640,831, entitled MONITORING        SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED        SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,895,148;    -   U.S. patent application Ser. No. 14/640,859, entitled TIME        DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY,        CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Pat. No.        10,052,044;    -   U.S. patent application Ser. No. 14/640,817, entitled        INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,924,961;    -   U.S. patent application Ser. No. 14/640,844, entitled CONTROL        TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH        SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Pat. No.        10,045,776;    -   U.S. patent application Ser. No. 14/640,837, entitled SMART        SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Pat. No.        9,993,248;    -   U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR        DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A        SURGICAL STAPLER, now U.S. Patent Application Publication No.        2016/0256160;    -   U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND        POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now        U.S. Pat. No. 9,901,342; and    -   U.S. patent application Ser. No. 14/640,780, entitled SURGICAL        INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Pat.        No. 10,245,033.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/633,576, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S.        Pat. No. 10,045,779;    -   U.S. patent application Ser. No. 14/633,546, entitled SURGICAL        APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER        OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE        BAND, now U.S. Pat. No. 10,180,463;    -   U.S. patent application Ser. No. 14/633,560, entitled SURGICAL        CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE        BATTERIES, now U.S. Patent Application Publication No.        2016/0249910;    -   U.S. patent application Ser. No. 14/633,566, entitled CHARGING        SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A        BATTERY, now U.S. Pat. No. 10,182,816;    -   U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR        MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED,        now U.S. Patent Application Publication No. 2016/0249916;    -   U.S. patent application Ser. No. 14/633,542, entitled REINFORCED        BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,931,118;    -   U.S. patent application Ser. No. 14/633,548, entitled POWER        ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,245,028;    -   U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE        SURGICAL INSTRUMENT HANDLE, now U.S. Pat. No. 9,993,258;    -   U.S. patent application Ser. No. 14/633,541, entitled MODULAR        STAPLING ASSEMBLY, now U.S. Pat. No. 10,226,250; and    -   U.S. patent application Ser. No. 14/633,562, entitled SURGICAL        APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S.        Pat. No. 10,159,483.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/574,478, entitled SURGICAL        INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND        MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now        U.S. Pat. No. 9,844,374;    -   U.S. patent application Ser. No. 14/574,483, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat.        No. 10,188,385;    -   U.S. patent application Ser. No. 14/575,139, entitled DRIVE        ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,844,375;    -   U.S. patent application Ser. No. 14/575,148, entitled LOCKING        ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE        SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748;    -   U.S. patent application Ser. No. 14/575,130, entitled SURGICAL        INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A        DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now        U.S. Pat. No. 10,245,027;    -   U.S. patent application Ser. No. 14/575,143, entitled SURGICAL        INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat.        No. 10,004,501;    -   U.S. patent application Ser. No. 14/575,117, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309;    -   U.S. patent application Ser. No. 14/575,154, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355;    -   U.S. patent application Ser. No. 14/574,493, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM,        now U.S. Pat. No. 9,987,000; and    -   U.S. patent application Ser. No. 14/574,500, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM,        now U.S. Pat. No. 10,117,649.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/782,295, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR        SIGNAL COMMUNICATION, now U.S. Pat. No. 9,700,309;    -   U.S. patent application Ser. No. 13/782,323, entitled ROTARY        POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,782,169;    -   U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL        SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2014/0249557;    -   U.S. patent application Ser. No. 13/782,499, entitled        ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT,        now U.S. Pat. No. 9,358,003;    -   U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE        PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,554,794;    -   U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK        SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        9,326,767;    -   U.S. patent application Ser. No. 13/782,481, entitled SENSOR        STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now        U.S. Pat. No. 9,468,438;    -   U.S. patent application Ser. No. 13/782,518, entitled CONTROL        METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT        PORTIONS, now U.S. Patent Application Publication No.        2014/0246475;    -   U.S. patent application Ser. No. 13/782,375, entitled ROTARY        POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM,        now U.S. Pat. No. 9,398,911; and    -   U.S. patent application Ser. No. 13/782,536, entitled SURGICAL        INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/803,097, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now        U.S. Pat. No. 9,687,230;    -   U.S. patent application Ser. No. 13/803,193, entitled CONTROL        ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now        U.S. Pat. No. 9,332,987;    -   U.S. patent application Ser. No. 13/803,053, entitled        INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL        INSTRUMENT, now U.S. Pat. No. 9,883,860;    -   U.S. patent application Ser. No. 13/803,086, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION        LOCK, now U.S. Patent Application Publication No. 2014/0263541;    -   U.S. patent application Ser. No. 13/803,210, entitled SENSOR        ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,808,244;    -   U.S. patent application Ser. No. 13/803,148, entitled        MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2014/0263554;    -   U.S. patent application Ser. No. 13/803,066, entitled DRIVE        SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,629,623;    -   U.S. patent application Ser. No. 13/803,117, entitled        ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,351,726;    -   U.S. patent application Ser. No. 13/803,130, entitled DRIVE        TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,351,727; and    -   U.S. patent application Ser. No. 13/803,159, entitled METHOD AND        SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No.        9,888,919.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL        SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/226,106, entitled POWER        MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2015/0272582;    -   U.S. patent application Ser. No. 14/226,099, entitled        STERILIZATION VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;    -   U.S. patent application Ser. No. 14/226,094, entitled        VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now        U.S. Patent Application Publication No. 2015/0272580;    -   U.S. patent application Ser. No. 14/226,117, entitled POWER        MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE        UP CONTROL, now U.S. Pat. No. 10,013,049;    -   U.S. patent application Ser. No. 14/226,075, entitled MODULAR        POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES,        now U.S. Pat. No. 9,743,929;    -   U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK        ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 10,028,761;    -   U.S. patent application Ser. No. 14/226,116, entitled SURGICAL        INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent        Application Publication No. 2015/0272571;    -   U.S. patent application Ser. No. 14/226,071, entitled SURGICAL        INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S.        Pat. No. 9,690,362;    -   U.S. patent application Ser. No. 14/226,097, entitled SURGICAL        INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No.        9,820,738;    -   U.S. patent application Ser. No. 14/226,126, entitled INTERFACE        SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No.        10,004,497;    -   U.S. patent application Ser. No. 14/226,133, entitled MODULAR        SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272557;    -   U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS        AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat.        No. 9,804,618;    -   U.S. patent application Ser. No. 14/226,076, entitled POWER        MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE        PROTECTION, now U.S. Pat. No. 9,733,663;    -   U.S. patent application Ser. No. 14/226,111, entitled SURGICAL        STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and    -   U.S. patent application Ser. No. 14/226,125, entitled SURGICAL        INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No.        10,201,364.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY        AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        10,111,679;    -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT        WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S.        Pat. No. 9,724,094;    -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING        DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat.        No. 9,737,301;    -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE        SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR        INTERPRETATION, now U.S. Pat. No. 9,757,128;    -   U.S. patent application Ser. No. 14/479,110, entitled POLARITY        OF HALL MAGNET TO IDENTIFY CARTRIDGE TYPE, now U.S. Pat. No.        10,016,199;    -   U.S. patent application Ser. No. 14/479,098, entitled SMART        CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat.        No. 10,135,242;    -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE        MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        9,788,836; and    -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL        DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent        Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR        DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now        U.S. Pat. No. 9,826,976;    -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL        INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE        OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No.        9,649,110;    -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL        SYSTEM COMPRISING FIRST AND SECOND DRIVE SYSTEMS, now U.S. Pat.        No. 9,844,368;    -   U.S. patent application Ser. No. 14/248,588, entitled POWERED        LINEAR SURGICAL STAPLER, now U.S. Patent Application Publication        No. 2014/0309666;    -   U.S. patent application Ser. No. 14/248,591, entitled SURGICAL        INSTRUMENT COMPRISING A GAP SETTING SYSTEM, now U.S. Pat. No.        10,149,680;    -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR        ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,        now U.S. Pat. No. 9,801,626;    -   U.S. patent application Ser. No. 14/248,587, entitled POWERED        SURGICAL STAPLER, now U.S. Pat. No. 9,867,612;    -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE        SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now        U.S. Pat. No. 10,136,887; and    -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION        ARRANGEMENTS, now U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR;    -   U.S. Provisional Patent Application Ser. No. 61/812,376,        entitled LINEAR CUTTER WITH POWER;    -   U.S. Provisional Patent Application Ser. No. 61/812,382,        entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;    -   U.S. Provisional Patent Application Ser. No. 61/812,385,        entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION        MOTORS AND MOTOR CONTROL; and    -   U.S. Provisional Patent Application Ser. No. 61/812,372,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR.

Applicant of the present application owns the following U.S. ProvisionalPatent applications, filed on Dec. 28, 2017, the disclosure of each ofwhich is herein incorporated by reference in its entirety:

-   -   U.S. Provisional Patent Application Ser. No. 62/611,341,        entitled INTERACTIVE SURGICAL PLATFORM;    -   U.S. Provisional Patent Application Ser. No. 62/611,340,        entitled CLOUD-BASED MEDICAL ANALYTICS; and    -   U.S. Provisional Patent Application Ser. No. 62/611,339,        entitled ROBOT ASSISTED SURGICAL PLATFORM.

Applicant of the present application owns the following U.S. ProvisionalPatent applications, filed on Mar. 28, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. Provisional Patent Application Ser. No. 62/649,302,        entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED        COMMUNICATION CAPABILITIES;    -   U.S. Provisional Patent Application Ser. No. 62/649,294,        entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS        AND CREATE ANONYMIZED RECORD;    -   U.S. Provisional Patent Application Ser. No. 62/649,300,        entitled SURGICAL HUB SITUATIONAL AWARENESS;    -   U.S. Provisional Patent Application Ser. No. 62/649,309,        entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN        OPERATING THEATER;    -   U.S. Provisional Patent Application Ser. No. 62/649,310,        entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;    -   U.S. Provisional Patent Application Ser. No. 62/649,291,        entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO        DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;    -   U.S. Provisional Patent Application Ser. No. 62/649,296,        entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;    -   U.S. Provisional Patent Application Ser. No. 62/649,333,        entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND        RECOMMENDATIONS TO A USER;    -   U.S. Provisional Patent Application Ser. No. 62/649,327,        entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND        AUTHENTICATION TRENDS AND REACTIVE MEASURES;    -   U.S. Provisional Patent Application Ser. No. 62/649,315,        entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS        NETWORK;    -   U.S. Provisional Patent Application Ser. No. 62/649,313,        entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;    -   U.S. Provisional Patent Application Ser. No. 62/649,320,        entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS;    -   U.S. Provisional Patent Application Ser. No. 62/649,307,        entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS; and    -   U.S. Provisional Patent Application Ser. No. 62/649,323,        entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. patent application Ser. No. 15/940,641, entitled        INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION        CAPABILITIES;    -   U.S. patent application Ser. No. 15/940,648, entitled        INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES        AND DATA CAPABILITIES;    -   U.S. patent application Ser. No. 15/940,656, entitled SURGICAL        HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM        DEVICES;    -   U.S. patent application Ser. No. 15/940,666, entitled SPATIAL        AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS;    -   U.S. patent application Ser. No. 15/940,670, entitled        COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES        BY INTELLIGENT SURGICAL HUBS;    -   U.S. patent application Ser. No. 15/940,677, entitled SURGICAL        HUB CONTROL ARRANGEMENTS;    -   U.S. patent application Ser. No. 15/940,632, entitled DATA        STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE        ANONYMIZED RECORD;    -   U.S. patent application Ser. No. 15/940,640, entitled        COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND        STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED        ANALYTICS SYSTEMS;    -   U.S. patent application Ser. No. 15/940,645, entitled SELF        DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT;    -   U.S. patent application Ser. No. 15/940,649, entitled DATA        PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN        OUTCOME;    -   U.S. patent application Ser. No. 15/940,654, entitled SURGICAL        HUB SITUATIONAL AWARENESS;    -   U.S. patent application Ser. No. 15/940,663, entitled SURGICAL        SYSTEM DISTRIBUTED PROCESSING;    -   U.S. patent application Ser. No. 15/940,668, entitled        AGGREGATION AND REPORTING OF SURGICAL HUB DATA;    -   U.S. patent application Ser. No. 15/940,671, entitled SURGICAL        HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;    -   U.S. patent application Ser. No. 15/940,686, entitled DISPLAY OF        ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE;    -   U.S. patent application Ser. No. 15/940,700, entitled STERILE        FIELD INTERACTIVE CONTROL DISPLAYS;    -   U.S. patent application Ser. No. 15/940,629, entitled COMPUTER        IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;    -   U.S. patent application Ser. No. 15/940,704, entitled USE OF        LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE        PROPERTIES OF BACK SCATTERED LIGHT;    -   U.S. patent application Ser. No. 15/940,722, entitled        CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF        MONO-CHROMATIC LIGHT REFRACTIVITY; and    -   U.S. patent application Ser. No. 15/940,742, entitled DUAL CMOS        ARRAY IMAGING.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. patent application Ser. No. 15/940,636, entitled ADAPTIVE        CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;    -   U.S. patent application Ser. No. 15/940,653, entitled ADAPTIVE        CONTROL PROGRAM UPDATES FOR SURGICAL HUBS;    -   U.S. patent application Ser. No. 15/940,660, entitled        CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND        RECOMMENDATIONS TO A USER;    -   U.S. patent application Ser. No. 15/940,679, entitled        CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS        WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET;    -   U.S. patent application Ser. No. 15/940,694, entitled        CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED        INDIVIDUALIZATION OF INSTRUMENT FUNCTION;    -   U.S. patent application Ser. No. 15/940,634, entitled        CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION        TRENDS AND REACTIVE MEASURES;    -   U.S. patent application Ser. No. 15/940,706, entitled DATA        HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; and    -   U.S. patent application Ser. No. 15/940,675, entitled CLOUD        INTERFACE FOR COUPLED SURGICAL DEVICES.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. patent application Ser. No. 15/940,627, entitled DRIVE        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,637, entitled        COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS;    -   U.S. patent application Ser. No. 15/940,642, entitled CONTROLS        FOR ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,676, entitled AUTOMATIC        TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,680, entitled        CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,683, entitled        COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS;    -   U.S. patent application Ser. No. 15/940,690, entitled DISPLAY        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and    -   U.S. patent application Ser. No. 15/940,711, entitled SENSING        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich the first jaw is pivotable relative to the second jaw. Thesurgical stapling system further comprises an articulation jointconfigured to permit the end effector to be rotated, or articulated,relative to the shaft. The end effector is rotatable about anarticulation axis extending through the articulation joint. Otherembodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

A surgical instrument 10000 is illustrated in FIG. 1 . The surgicalinstrument 10000 comprises a handle 10100, a shaft 10200 extending fromthe handle 10100, and an end effector 10400. The end effector 10400comprises a first jaw 10410 configured to receive a staple cartridge anda second jaw 10420 movable relative to the first jaw 10410. The secondjaw 10420 comprises an anvil including staple forming pockets definedtherein. The surgical instrument 10000 further comprises a closureactuator 10140 configured to drive a closure system of the surgicalinstrument 10000 and move the second jaw 10420 between an unclampedposition and a clamped position. Referring to FIG. 3 , the closureactuator 10140 is operably coupled with a closure tube 10240 that isadvanced distally when the closure actuator 10140 is closed. In suchinstances, the closure tube 10240 contacts the second jaw and camsand/or pushes the second jaw 10420 downwardly into its clamped position.The second jaw 10420 is pivotably coupled to the first jaw about a pivotaxis. That said, in alternative embodiments, the second jaw cantranslate and rotate as it is being moved into its clamped position.Moreover, in various alternative embodiments, a surgical instrumentcomprises a staple cartridge jaw is movable between an unclampedposition and a clamped position relative to an anvil jaw. In any event,the handle 10100 comprises a lock configured to releasably hold theclosure actuator 10140 in its clamped position. The handle 10100 furthercomprises release actuators 10180 a, 10180 b which, when either one isactuated, unlock the closure actuator 10140 such that the end effectorcan be re-opened. In various alternative embodiments, the handle 10100comprises an electric motor configured to move the closure tube 10240proximally and/or distally when actuated by the clinician.

The end effector 10400 is attached to the shaft 10200 about anarticulation joint 10500 and is rotatable within a plane about anarticulation axis. The shaft 10200 defines a longitudinal axis and theend effector 10400 is articulatable between a position in which the endeffector 10400 is aligned with the longitudinal axis and positions inwhich the end effector 10400 extends at a transverse angle relative tothe longitudinal axis. The handle 10100 comprises an electric motor anda control system configured to control the operation of the electricmotor. The electric motor comprises a brushless DC motor; however, theelectric motor can comprise any suitable motor, such as a brushed DCmotor, for example. The entire disclosure of U.S. Pat. No. 10,149,683,entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLYRETRACTABLE FIRING SYSTEM, which issued on Dec. 11, 2018, isincorporated by reference herein. The entire disclosure of U.S. PatentApplication Publication No. 2018/0125481, entitled MOTOR-DRIVEN SURGICALCUTTING INSTRUMENT, which published on May 10, 2018, is incorporated byreference herein. The handle 10100 further comprises a replaceableand/or rechargeable battery 10300 attachable to the handle housing whichpowers the surgical instrument 10000. The entire disclosure of U.S. Pat.No. 8,632,525, entitled POWER CONTROL ARRANGEMENTS FOR SURGICALINSTRUMENTS AND BATTERIES, which issued on Jan. 21, 2014, isincorporated by reference herein. The electric motor is operably coupledwith a firing drive 10250 of the surgical instrument 10000 and isconfigured to drive a firing member of the firing drive 10250 through astaple firing stroke. The electric motor comprises a rotatable outputincluding a gear engaged with a translatable rack of the firing drive10250. The electric motor is operated in a first direction to drive thefiring member through the staple firing stroke and a second, oropposite, direction to retract the firing member and/or reset the firingdrive 10250. The surgical instrument 10000 further comprises an actuator10150 in communication with the motor control system which, whenactuated or rotated, signals to the motor control system to operate theelectric motor in the first direction and begin the staple firingstroke. If the actuator 10150 is released, the motor control systemstops the electric motor. When the actuator 10150 is re-actuated, themotor control system operates the electric motor in the first directiononce again to continue the staple firing stroke. When the firing memberreaches the end of the staple firing stroke, the control system stopsthe electric motor awaiting input from the clinician. When the clinicianreleases the actuator 10150 at such point, the control system reversesthe operation of the electric motor to retract the firing member backinto its unfired position. The handle 10100 further comprises aretraction actuator in communication with the motor control system thatreverses the direction of the electric motor to retract the firing drivewhen actuated by the clinician. When the retraction actuator isdepressed, the staple firing stroke is terminated regardless of whetherthe firing member had reached the end of the staple firing stroke.

The electric motor of the surgical instrument 10000 is also used toselectively drive an articulation drive system to articulate the endeffector 10400. More specifically, the articulation drive systemcomprises an articulation driver that is selectively engageable with thefiring drive and, when the articulation driver is engaged with thefiring drive, the articulation driver is movable proximally and distallyby the operation of the electric motor to articulate the end effector10400. When the electric motor is operated in its first direction, insuch instances, the end effector 10400 is articulated in a firstdirection to push the articulation driver distally. Similarly, the endeffector 10400 is articulated in a second direction when the electricmotor is operated in its second direction to pull the articulationdriver proximally. When the articulation driver is not engaged with thefiring drive, the operation of the electric motor does not articulatethe end effector 10400. Instead, in such instances, the electric motoronly moves the firing drive. That said, it should be appreciated thatthe movement of the firing drive to articulate the end effector 10400does not cause the staple firing stroke to be performed. The range ofmotion needed to articulate the end effector 10400 is small, as comparedto the range of motion of the staple firing stroke, and occurs proximalto the beginning of the staple firing stroke such that the staples arenot ejected and the tissue is not cut while the end effector 10400 isbeing articulated. The surgical instrument 10000 further comprises anarticulation lock which unlocks when the articulation driver is movedlongitudinally by the firing drive and then locks the end effector 10400in position when the articulation driver is not being driven by thefiring drive. The entire disclosure of U.S. Pat. No. 9,629,629, entitledCONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, which issued on Apr. 25, 2017,is incorporated by reference herein. The above being said, a surgicalinstrument can comprise a separate articulation motor in addition to thefiring motor for driving the articulation drive system.

Further to the above, referring to FIG. 2 , the handle 10100 comprises aframe 10110, a housing 10120, and an articulation actuator 10160. Thearticulation actuator 10160 comprises a rocker switch, for example,which is oriented vertically on the housing 10120 and is incommunication with the motor control system. The rocker switch isrotatable upwardly and downwardly about an axis to articulate the endeffector 10400. The upper portion of the articulation actuator 10160 ispushed by the clinician to articulate the end effector 10400 to the leftand the lower portion of the articulation actuator 10160 is pushed toarticulate the end effector 10400 to the right. Such an arrangementprovides an intuitive interface for the clinician; however, any suitablearrangement could be used. The handle 10100 further comprises a homeactuator 10170 in communication with the motor control system. When thehome actuator 10170 is actuated by the clinician, the motor controlsystem operates the electric motor to re-center the end effector 10400along the longitudinal axis of the shaft 10200 of the surgicalinstrument 10000. To this end, the control system is configured to trackthe position of the end effector such that, when the home actuator 10170is actuated, the control system operates the electric motor in thecorrect direction to articulate the end effector 10400 in the correctdirection and the correct amount. In various instances, the surgicalinstrument 10000 comprises a linear encoder configured to track theposition of the articulation driver, for example, such that, when thehome actuator 10170 is actuated, the control system can properly centerthe end effector 10400.

Further to the above, the shaft 10200 is rotatable relative to thehandle 10100. The shaft 10200 comprises a frame 10210 attached to theframe 10110 of the handle 10100. In embodiments where the shaft 10200 isreadily removable from the handle 10100, the shaft frame 10210 candetach from the handle frame 10110. In embodiments where the shaft 10200is not removable from the handle 10100, the shaft frame 10210 and thehandle frame 10110 can be integrally formed. In any event, the shaft10200 comprises a nozzle, or grip, 10220 fixedly mounted to the closuretube 10240 of the shaft 10200. The grip 10220 comprises finger grooves10222 defined therein and ridges 10224 extending between the fingergrooves 10222 that provide walls against which a clinician can pushtheir finger and assist the clinician in rotating the shaft 10200 aboutits longitudinal axis.

Notably, further to the above, the end effector 10400 rotates with theshaft 10200 when the shaft 10200 is rotated about its longitudinal axis.Thus, the end effector 10400 rotates clockwise when the shaft 10200 isrotated clockwise by the clinician and counter-clockwise when the shaft10200 is rotated counter-clockwise by the clinician. In variousalternative embodiments, the surgical instrument 10000 comprises anelectric motor configured to rotate the shaft 10200 about itslongitudinal axis. In either event, the shaft 10200 is rotatable from atop-dead-center (TDC) position in which the anvil 10420 is positioneddirectly above the staple cartridge jaw 10410 to any other suitableposition within a full 360 degree range of positions. For instance, theshaft 10200 is rotatable into a right 90 degree position in which theanvil 10420 is facing to the right of the handle 10100 or a left 90degree position in which the anvil 10420 is facing to the left of thehandle 10100. The shaft 10200 is also rotatable into abottom-dead-center (BDC) position in which the staple cartridge jaw10410 is positioned directly above the anvil 10420.

As described above, the end effector 10400 is both articulatable aboutthe articulation joint 10500 and rotatable with the shaft 10200. Whenthe end effector 10400 is rotated in a plane when the end effector 10400is in its TDC position, as mentioned above, the articulation control10160 is intuitive to the user—push up to articulate left and push downto articulate right. This arrangement is also intuitive even after theshaft 10200—and end effector 10400—have been rotated 90 degrees to theright or to the left. However, when the shaft 10200 and end effector10400 have been rotated past 90 degrees in either direction, thearticulation control 10160 can become counter-intuitive to theclinician. In fact, the articulation control 10160 can seem backwards.With this in mind, the control system of the surgical instrument 10000is configured to flip the manner in which the surgical instrumentresponds to the articulation control 10160 when the shaft 10200 and endeffector 10400 have been rotated past 90 degrees in either direction. Insuch instances, the controls become: push up to articulate right andpush down to articulate left. To this end, as described in greaterdetail below, the surgical instrument 10000 is configured to detect theorientation of the shaft 10200 relative to the handle 10100, i.e., it isconfigured to detect whether the end effector 10400 is at leastpartially upside down with respect to the handle 10100 and then enter analternative operational control mode in which the responsiveness of thesurgical instrument 10000 to the articulation control 10160 has beenreversed. Such an arrangement can make the surgical instrument 10000easier to use in various instances.

Referring to FIGS. 2-5 , the surgical instrument 10000 comprises aswitch 10130 mounted to the handle 10100 in communication with thecontrol system which is configured to detect the rotation of the shaft10200 relative to the handle 10100. The switch 10130 comprises a switchbody 10132 fixedly mounted to the handle frame 10110 and threeelectrical contacts 10133 which are part of a switch circuit incommunication with the control system. The switch 10000 furthercomprises a switch arm 10134 rotatably connected to the switch body10132 and an electrical contact 10136 positioned on the switch body10132. The switch arm 10134 is comprised of an electrically-conductivematerial, such as brass, for example, and closes the switch circuit whenthe switch arm 10134 comes into contact with the electrical contact10136. The switch arm 10134 is rotated between an open position (FIG. 5) and a closed position when the shaft 10200 is rotated past the left orright 90 degree positions. More specifically, the grip, or nozzle, 10220comprises a cam 10230 defined thereon which pushes the switch arm 10134into its closed position when the shaft 10200 and the end effector 10400is at least partially upside down. When the shaft 10200 is rotatedupwardly past the 90 degree positions, the cam 10230 permits the switcharm 10134 to resiliently move back into its open position and open theswitch circuit. The switch arm 10134 comprises a roller 10135 mountedthereto to facilitate relative rotation between the switch arm 10134 andthe grip 10220.

A surgical instrument 11000 is illustrated in FIG. 6 . The surgicalinstrument 11000 is similar to the surgical instrument 10000 in manyrespects. The surgical instrument 11000 comprises a handle 11100 and ashaft 11200 extending from the handle 11100. The handle 11100 comprisesa frame 11110 and the shaft 11200 comprises a frame 11210 attached tothe handle frame 11110. The shaft 11200 comprises a grip, or nozzle,11220, a first magnetic element 11230 s positioned on one side of thegrip 11220, and a second magnetic element 11230 n positioned on theopposite side of the grip 11220. Stated another way, the first magneticelement 11230 s and the second magnetic element 11230 n are mounted 180degrees apart. The handle 11100 further comprises a control systemincluding at least one sensor 11130, such as a Hall Effect sensor, forexample, mounted to the handle frame 11110 configured to sense theposition of the magnetic elements 11230 s and 11230 n and, with thisinformation, determine the orientation of the shaft 11200 relative tothe handle 11100. Notably, the first magnetic element 11230 s comprisesa permanent magnet with a south pole facing toward the handle 11100 anda north pole facing away from the handle 11100 and the second magneticelement 11230 n comprises a permanent magnet with a north pole facingtoward the handle 11100 and a south pole facing away from the handle11100. The magnetic elements 11230 s and 11230 n disturb the magneticfield emitted by the Hall Effect sensor and, when the shaft 11200 is atleast partially upside down, the disturbance associated with such anorientation of the shaft 11200 is detected by the control system of thesurgical instrument 11000 via a sensing circuit including the sensor11130. In such instances, similar to the above, the control systementers into its second operating mode which flips the responsiveness ofthe surgical instrument 11000 to the articulation control 10160, asdescribed above.

A surgical instrument 12000 is illustrated in FIGS. 7 and 8 . Thesurgical instrument 12000 is similar to the surgical instrument 10000 inmany respects. The surgical instrument 12000 comprises a handle 12100and a shaft 12200 extending from the handle 12100. The handle 12100comprises a housing, a first articulation control 12160 a positioned ona first side of the handle housing, and a second articulation control12160 b positioned on a second, or opposite, side of the handle housing.The first articulation control 12160 a is in communication with thecontrol system of the surgical instrument 12000 via a first controlcircuit and the second articulation control 12160 b is in communicationwith the control system via a second control circuit. The control systemis configured to operate the electric motor of the staple firing drivein a first direction to articulate the end effector of the shaft 12200in a first direction when the first articulation control 12160 a isactuated and a second, or opposite, direction to articulate the endeffector in a second, or opposite, direction with the second articulatecontrol 12160 b is actuated. The handle 12100 further comprises acentering, or home, actuator 10170 a positioned on the first side of thehandle 12100 and a second centering, or home, actuator 10170 b on thesecond side of the handle 12100. Similar to the above, the actuators10170 a and 10170 b are in communication with the control system whichis configured such that the actuation of either centering actuator 10170a or 10170 b causes the control system to operate the electric motor tore-center the end effector.

A surgical instrument 13000 is illustrated in FIGS. 9 and 10 . Thesurgical instrument 13000 is similar to the surgical instrument 10000 inmany respects. The surgical instrument 13000 comprises a handle 13100and a shaft 13200 extending from the handle 13100. The shaft 13200comprises a housing, a first articulation control 13260 a positioned ona first side of the shaft housing, and a second articulation control13260 b positioned on a second, or opposite, side of the shaft housing.The first articulation control 13260 a is in communication with thecontrol system of the surgical instrument 13000 via a first controlcircuit and the second articulation control 13260 b is in communicationwith the control system via a second control circuit. The control systemis configured to operate the electric motor of the staple firing drivein a first direction to articulate the end effector 10400 of the shaft13200 in a first direction when the first articulation control 13260 ais actuated and a second, or opposite, direction to articulate the endeffector 10400 in a second, or opposite, direction when the secondarticulation control 13260 b is actuated. Stated another way, the endeffector 10400 articulates in the direction of the articulation controlthat is actuated. The first articulation control 13260 a is positionedon a first finger ridge defined on a grip, or nozzle, 13220 of the shaft13200 and the second articulation control 13260 b is positioned on asecond finger ridge defined on the grip 13220. Notably, the articulationcontrols 13260 a and 13260 b are positioned 180 degrees apart.Alternatively, the articulation controls 13260 a and 13260 b can bepositioned in the finger grooves defined in the grip 13220, although anysuitable arrangement could be used. This arrangement provides anadvantage of having the articulation controls in a position which isreadily accessible by the hand of the clinician during use and, as aresult, they are usable in an intuitive manner as the relativearrangement of the articulation controls 13260 a and 13260 b and thearticulation directions are fixed.

A surgical instrument 14000 is illustrated in FIGS. 11 and 12 . Thesurgical instrument 14000 is similar to the surgical instrument 13000 inmany respects. The surgical instrument 14000 comprises a handle 13100and a shaft 14200 extending from the handle 13100. The shaft 14200comprises a housing, a first articulation control 14260 a positioned ona first side of the shaft housing, and a second articulation control14260 b positioned on a second side of the shaft housing. The firstarticulation control 14260 a is in communication with the control systemof the surgical instrument 14000 via a first control circuit and thesecond articulation control 14260 b is in communication with the controlsystem via a second control circuit. The control system is configured tooperate the electric motor of the staple firing drive in a firstdirection to articulate the end effector 10400 of the shaft 14200 in afirst direction when the first articulation control 14260 a is actuatedand a second, or opposite, direction to articulate the end effector10400 in a second, or opposite, direction when the second articulationcontrol 14260 b is actuated. The first articulation control 14260 a ispositioned in a first finger groove defined in a grip, or nozzle, 14220of the shaft 14200 and the second articulation control 14260 b ispositioned in a second finger groove defined in the grip 14220, althoughany suitable arrangement could be used.

In addition to the above, the shaft 14200 further comprises a thirdarticulation control 14260 c positioned on the second side of the shafthousing and a fourth articulation control 14260 d positioned on thefirst side of the shaft housing. The third articulation control 14260 cis in communication with the control system of the surgical instrument14000 via a third control circuit and the fourth articulation control14260 b is in communication with the control system via a fourth controlcircuit. The control system is configured to operate the electric motorof the staple firing drive in the second direction to articulate the endeffector of the shaft 14200 in the second direction when the thirdarticulation control 14260 c is actuated and the first direction toarticulate the end effector in the first direction when the fourtharticulation control 14260 d is actuated. The third articulation control14260 c is positioned in a third finger groove defined in the grip 14220of the shaft 14200 and the fourth articulation control 14260 d ispositioned in a fourth finger groove defined in the grip 14220, althoughany suitable arrangement could be used.

A surgical instrument 15000 is illustrated in FIG. 13 . The surgicalinstrument 15000 is similar to the surgical instrument 10000 in manyrespects. The surgical instrument 15000 comprises a handle 15100 and ashaft 10200 extending from the handle 15100. The handle 15100 comprisesan articulation actuator 15160 in communication with the control systemof the surgical instrument 15000. As opposed to the articulationactuator 10160 which is arranged vertically, the articulation actuator15160 is arranged horizontally. The articulation actuator 15160comprises a rotatable element which is rotatable within a plane which isparallel to, or at least substantially parallel to, the longitudinalaxis of the shaft 10200. The rotatable element is rotatable distally toarticulate the end effector 10400 to the right of the handle 15100 andproximally to articulate the end effector 10400 to the left of thehandle 15100. This is true regardless of whether the end effector 10400is rotated upwardly or downwardly owing to the control responsivenessflipping when the end effector 10400 is rotated past 90 degrees from itsTDC position in either direction. That said, the controls of thearticulation actuator 15160 can be reversed as outlined above. Thearticulation actuator 15160 comprises a distal contact which is part ofa first articulation control circuit and a proximal contact which ispart of a second articulation control circuit. The rotatable elementengages the distal contact and closes the first articulation controlcircuit when the rotatable element is in its distal position. Therotatable element is not in contact with the proximal contact when therotatable element is in its distal position and, as such, the secondarticulation control circuit is open. Similarly, the rotatable elementengages the proximal contact and closes the second articulation controlcircuit when the rotatable element is in its proximal position.Correspondingly, the rotatable element is not in contact with the distalcontact when the rotatable element is in its proximal position and, assuch, the first articulation control circuit is open.

Further to the above, the articulation actuator 15160 comprises a detentin the middle of the range of motion of the rotatable element. Thedetent is configured to resist the motion of the rotatable element asthe rotatable element moves from one side of the articulation actuator15160 to the other. Such resistance to the motion of the rotatableelement can signal to the clinician that they will articulate the endeffector 10400 in the opposite direction once they move the rotatableelement past that point. Moreover, such a detent provides a place topark the rotatable element such that the end effector 10400 is not beingarticulated in either direction. The rotatable element comprises a ridgealignable with its center, or parked, position which is pushable andpullable by the clinician to move the rotatable element. Such a ridgeprovides the clinician with a tactile sensation of the direction inwhich the rotatable element is rotated and, thus, a sense of thedirection in which the end effector 10400 is being articulated.

The above being said, various embodiments are envisioned in which theflipping of the control responsiveness of a surgical instrument can bedefeated. In at least one instance, the handle of the surgicalinstrument comprises an actuator in communication with the controlsystem that, when actuated, causes the control system to not enter intoits second, or flipped, operational mode. In at least one such instance,the handle further comprises an indicator, such as a light emittingdiode (LED), for example, that is illuminated to indicate the status ofthe surgical instrument, i.e., whether or not the articulation controlswill flip when the end effector is rotated past 90 degrees from its TDCposition. In certain instances, the surgical instrument comprises aninput screen in communication with a microprocessor of the controlsystem which can receive an input to prevent the control system fromentering into its second, or flipped, operational mode. In addition toor in lieu of the above, the flip point in which the surgical instrumententers into its second operation mode can be adjusted. In at least onesuch embodiment, the clinician can modify the flip point to 85 degrees,for example, in either direction from the TDC position of the endeffector. Any suitable number, such as 80 degrees, 95 degrees, or 100degrees, for example, could be used to suit the preference of theclinician. In at least one embodiment, the surgical instrument comprisesan input screen in communication with the microprocessor of the controlsystem which is configured to receive an input from the clinician toadjust the articulation control flip point.

During use, it is desirable for the articulation controls not to flipunexpectedly while the clinician is using the articulation controls.When the clinician starts articulating the end effector, the controlsystem maintains the articulation control mode until the clinicianreleases the articulation control even if the end effector and shaft arerotated past a flip point during the articulation. Once the articulationhas stopped, the control system can re-orient the articulation controls,or switch to the flipped articulation control mode if the end effectorand shaft are still in an upside-down position. In certain embodiments,the control system does not immediately flip the articulation controls.Instead, the control system comprises a timer circuit and/or themicroprocessor of the control system is programmed to wait a certainamount of time before flipping the controls. In at least one instance,the control system waits 5 seconds, for example, from the last time thatthe articulation controls were used before flipping the articulationcontrols. Alternatively, the control system can wait 2 seconds or 10seconds, for example. Such an arrangement can help prevent confusionwith the user of the surgical instrument. In various embodiments, thesurgical instrument comprises a haptic feedback generator incommunication with the control system which is activated by the controlsystem when the articulation controls are flipped. Motor noise, light,sound, and/or a vibratory feedback, for example, can be used. In someembodiments, the shaft and/or handle comprises a mechanical switch whichaudibly clicks when the shaft is rotated past its flip point in eitherdirection.

A surgical instrument 32000 is illustrated in FIGS. 56 and 57 , thesurgical instrument 32000 comprises a handle 32100 and a shaft 32200.The handle 32100 comprises an articulation control 32160 and anarticulation flip switch 32130 in communication with the control systemof the surgical instrument 32000. The articulation flip switch 32130 ismounted to a control board, such as a printed control board (PCB), forexample, which comprises the hardware and software for the controlsystem of the surgical instrument 32000. When the shaft 32200 is rotatedpast its 90 degree left or right position, the shaft 32200 contacts thearticulation flip switch 32130 which is detected by the control system.At this point, the control system follows an algorithm for decidingwhen, or if, to the flip the articulation controls. An algorithm 32900is illustrated in FIG. 58 which can control this, although any suitablealgorithm could be used. Similar to the above, the shaft 32200 comprisesa cam 32230 configured to contact the articulation flip switch 32130. Asa result of the above, the articulation flip switch 32130 is open or“off” for 180 degrees of the rotation of the shaft 32200 and closed or“on” for the other 180 degrees of the rotation of the shaft 32200. Thecam 32230 is molded into the shroud of the shaft 32200, but couldcomprise any suitable arrangement. The above being said, the throw ofthe cam 32230 is designed such that any lateral float or eccentricity inthe rotation of the shaft 32200, or cam 32230, does not accidentallyclose or open the articulation flip switch 32130. To this end, the shaft32200 comprises a fixed bearing for controlling the rotation of theshaft 32200 and the cam 32230. Notably, the articulation flip switch32130 is sealed to prevent fluid ingress.

As discussed above, the articulation flip switch 32130 is directlymounted to a control board and is contacted by the shaft assembly as theshaft assembly is rotated related to the handle about its longitudinalaxis. When the articulation flip switch 32130 is contacted by the shaftassembly, a force is transmitted to the articulation flip switch 32130and the control board. Absent more, such a force can tend to deflect thecontrol board and the articulation flip switch 32130 out of positionwithout switching the state of the articulation flip switch 32130. Invarious embodiments, the control board is mounted to a housing of thehandle via one or more screws such that the control board does nottranslate relative to the handle housing. In at least one embodiment,the screws comprise self-tapping screws that threadably engage thehandle housing and/or the control board. In at least one embodiment, thecontrol board is captured between two portions of the handle housing ina press-fit manner such that the control board is tightly heldtherebetween. In various embodiments, the articulation flip switch 32130is attached to the control board using one or more fasteners, such asscrews, for example, such that the articulation flip switch 32130 doesnot move relative to the control board. In at least one embodiment, thearticulation flip switch 32130 is bonded to the control board using oneor more adhesives. In at least one embodiment, the articulation flipswitch 32130 is soldered to the control board using any suitable solder,such as eutectic tin-lead solder, for example. In at least oneembodiment, the articulation flip switch 32130 comprises a body andelectrical terminals that are both soldered to the control board. In atleast one embodiment, the electrical terminals comprise pins extendingthrough holes defined in the control board that are soldered intoelectrical communication with one or more trace circuits defined inand/or on the control board. In at least one embodiment, the electricalterminals comprise surface mount terminals that are soldered intoelectrical communication with one or more trace circuits defined inand/or on the control board.

In various instances, a surgical instrument comprises an inputconfigured to permit a clinician to select whether the articulationcontrols operate in their ordinary articulation control mode or theirflipped articulation control mode. In at least one instance, the handleof the surgical instrument comprises an input switch in communicationwith the control system of the surgical instrument. When the inputswitch is open, for instance, the algorithm controls the orientation ofthe articulation controls according to a predetermined set of criteria.When the input switch is closed by the clinician, the algorithm does notuse the predetermined set of criteria to control the orientation of thearticulation controls. Instead, the algorithm uses the orientation ofthe articulation controls selected by the clinician. In at least oneinstance, the handle comprises three input switches in communicationwith the control system—a first switch which instructs the controlsystem to use the “anvil up” articulation controls, a second switchwhich instructs the control system to use the “anvil down” articulationcontrols, and a third switch which instructs the control system to usethe automatic controls. In some embodiments, the surgical instrumentdoes not have the automatic flip controls described herein and can justcomprise the first and second switch inputs. Such an arrangement cangreatly reduce the cost and/or complexity of a surgical instrument.

In various instances, further to the above, the flip point can be aspecific point in the rotation of the shaft 10200. In certain instances,referring to FIG. 55 , a grey zone can exist around the flip point. Forinstance, the grey zone can include 20 degrees to either side of theflip point, for example. While the shaft 10200 is in the grey zone, thealgorithm of the control system is configured to not flip thearticulation controls even though the shaft 10200 may have been rotatedpast the flip point. Such an arrangement allows the shaft 10200 to berotated back and forth within the grey zone without repeatedly flippingthe articulation controls. Once the shaft 10200 is rotated out of thegrey zone, however, the control system algorithm flips the articulationcontrols—subject to any other criteria needed for flipping thearticulation controls. In various instances, there is an interfacebetween the range of “anvil up” orientations and the range of “anvildown” orientations. For a shaft that is rotatable 360 degrees, there aretwo such interfaces—180 degrees apart from another. Each of theseinterfaces is positioned within a transition range of orientations thatextends into the range of “anvil up” orientations and the range of“anvil down” orientations. When the shaft 10200 is rotated from an“anvil up” orientation into a transition range, the control system doesnot flip the articulation controls—but further rotating the shaft 10200out of the transition range into an “anvil down” orientation will causethe articulation controls to flip. Similarly, the control system doesnot flip the articulation controls when the shaft 10200 is rotated froman “anvil down” orientation into a transition range, but furtherrotating the shaft 10200 out of the transition range in an “anvil up”orientation will cause the articulation controls to flip. In at leastone instance, each transition zone includes 5 degrees of orientationsfrom the “anvil up” range and 5 degrees of orientations from the “anvildown” range, for example. In other embodiments, each transition zoneincludes 10 degrees of orientations from the “anvil up” range and 10degrees of orientations from the “anvil down” range, for example.

In various embodiments, further to the above, the up and downorientations of the shaft 10200 are measured with respect to the handleand/or a housing rotatably supporting the shaft. In such instances, ahandle comprises a top and a bottom—regardless of its gravitationalorientation—and the up orientations of the shaft 10200 are associatedwith the top of the handle while the down orientations of the shaft10200 are associated with the bottom of the handle. In at least one suchembodiment, the shaft 10200 comprises a gravity sensor, such as anaccelerometer and/or a gyroscope, for example, and the handle comprisesa gravity sensor. In such embodiments, the shaft gravity sensor and thehandle gravity sensor are in communication with the control system whichis configured to assess the relative orientation between the shaft andthe handle using the data from the gravity sensors. In otherembodiments, the up and down orientations of the shaft 10200 aremeasured with respect to gravity regardless of the gravitationalorientation of the handle. In at least one such embodiment, the shaft10200 comprises a gravity sensor in communication with the controlsystem and the up orientations of the shaft 10200 are associated withvertically up positions while the down orientations of the shaft 10200are associated with vertically down positions.

An articulation control 16160 is illustrated in FIG. 14 . Thearticulation control 16160 comprises a first capacitive switch 16162 anda second capacitive switch 16164. The first capacitive switch 16162 andthe second capacitive switch 16164 are positioned on opposite sides ofan axis 16167. The first capacitive switch 16162 is part of a firstarticulation control circuit in communication with a control system of asurgical instrument and the second capacitive switch 16164 is part of asecond articulation control circuit in communication with the controlsystem. The capacitance of the first capacitive switch 16162 changeswhen a clinician places their finger on the first capacitive switch16162 which is detected by the control system and, in response to thischange, the control system articulates the end effector of the surgicalinstrument to the right. The capacitance of the second capacitive switch16164 changes when a clinician places their finger on the secondcapacitive switch 16164 which is detected by the control system and, inresponse to this change, the control system articulates the end effectorof the surgical instrument to the left. In various instances, the axis16167 comprises a dead zone which, if touched by the clinician, does notdetectably, or sufficiently, change the capacitance of the firstcapacitive switch 16162 or the second capacitive switch 16164.

A two-stage switch 17160 is illustrated in FIG. 15 . When the switch17160 is depressed into its first stage, a first articulation controlcircuit is closed. The first articulation control circuit is incommunication with a control system of a surgical instrument. When thecontrol system detects that the first articulation control circuit hasbeen closed, the control system operates an articulation drive motor ina first direction to articulate the end effector of the surgicalinstrument in a first direction. When the switch 17160 is depressed intoits second stage, a second articulation control circuit is closed. Invarious instances, the first stage comprises a first detent and thesecond stage comprises a second detent. In at least one such instance,the switch 17160 comprises a dual-detent switch that is depressable totwo different depths, for example. In any event, the second articulationcontrol circuit is in communication with the control system of thesurgical instrument. When the control system detects that the secondarticulation control circuit has been closed, the control systemoperates an articulation drive motor in a second direction to articulatethe end effector of the surgical instrument in a second direction.Further to the above, the second articulation control circuit is openwhen the first articulation control circuit is closed and, likewise, thefirst articulation control circuit is open when the second articulationcontrol circuit is closed. The above being said, in alternativeembodiments, the articulation control circuits can be opened when theyare in their respective stages to operate the articulation motor.

Many clinicians, further to the above, prefer to look at the patientwhen performing an open surgery and/or at an endoscope monitor whenperforming a laparoscopic surgery. As such, the clinician does notusually look at the surgical instrument that they are holding and,instead, rely on the tactile feel and/or intuitive design of thesurgical instrument to operate the surgical instrument. Stated anotherway, the clinician may not prefer to look down at the handle of theinstrument they are holding to verify the direction that they arearticulating the instrument. That being said, referring to FIGS. 16 and17 , a surgical instrument can comprise a shaft 18200 comprisingindicator lights configured to indicate the direction in which an endeffector, such as end effector 18400, for example, is being articulated.The articulation indicator lights are visible to the clinician whilethey are looking at the end effector 18400 of the surgicalinstrument—either directly or through an endoscope system monitor. Invarious instances, an endoscope system comprises an elongate flexibleshaft including a camera, a light, and/or any other suitable opticaldevice in communication with a control hub including a control systemand/or a video monitor configured to display the output of the camera.In such instances, the end effector 18400 and the indicator lights arevisible on the video monitor.

Further to the above, referring again to FIGS. 16 and 17 , the shaft18200 comprises a first indicator light 18260 a positioned on the rightside of the end effector 18400 in communication with the control systemof the surgical instrument via a first electrical circuit. When thecontrol system receives an input to articulate the end effector 18400 tothe right, the control system operates the articulation drive motor in adirection which articulates the end effector 18400 to the right and,also, illuminates the first indicator light 18260 a. When the controlsystem no longer receives this input, the control system deactivates thearticulation drive motor and the first indicator light 18260 a.Similarly, the shaft 18200 comprises a second indicator light 18260 bpositioned on the left side of the end effector 18400 in communicationwith the control system of the surgical instrument via a secondelectrical circuit. When the control system receives an input toarticulate the end effector 18400 to the left, the control systemoperates the articulation drive motor in a direction which articulatesthe end effector 18400 to the left and, also, illuminates the secondindicator light 18260 b. When the control system no longer receives thisinput, the control system deactivates the articulation drive motor andthe second indicator light 18260 b.

As discussed above, the first and second indicator lights 18260 a and18260 b are positioned on the end effector 18400 in a position which isreadily observable by the clinician when they are looking at the endeffector 18400. The indicator lights 18260 a and 18260 b are positioneddistally with respect to the articulation joint 10500; however, inalternative embodiments, the indicator lights 18260 a and 18260 b arepositioned proximally to the articulation joint 10500. In variousembodiments, a surgical instrument comprises more than one set ofindicator lights. In at least one such embodiment, a first set ofindicator lights 18260 a, 18260 b is positioned distally with respect tothe articulation joint 10500 and a second set of indicator lights 18260a, 18260 b is positioned proximally with respect to the articulationjoint 10500. An alternative embodiment comprising indicator lights 18260a′ and 18260 b′ on a shaft 18200′ is illustrated in FIG. 18 . Theindicator light 18260 a′ comprises an LED in the shape of a right-facingarrow while the indicator light 18260 b′ comprises an LED in the shapeof a left-facing arrow. The right-facing arrow 18260 a′ points to theright of the end effector—but not necessarily to the right of thesurgical instrument handle and/or the clinician owing to the possiblerotation of the shaft 18200′. Similarly, the left-facing arrow 18260 b′points to the left of the end effector—but not necessarily to the leftof the surgical instrument handle and/or the clinician owing to thepossible rotation of the shaft 18200′. Stated another way, the arrows,when illuminated, point in the direction that the end effector is beingarticulated. Given that the arrows are observable with the end effectoron an endoscope monitor, for example, the clinician will develop a sensefor the direction that the end effector will move when an arrow isilluminated upon actuating the articulation actuator. If the clinicianobserves that the illuminated arrow is the opposite of what theyexpected when they actuate the articulation actuator, the clinician canquickly react and re-actuate the articulation actuator in the correctdirection. In various alternative embodiments, the arrows 18260 a′ and18260 b′ can change colors when they are actuated. For instance, thearrow 18260 a′ is illuminated red when the end effector is notarticulated to the right, but is illuminated green when the end effectoris articulated to the right. Likewise, the arrow 18260 b′ is illuminatedred when the end effector is not articulated to the left, but isilluminated green when the end effector is articulated to the left.

In various embodiments, further to the above, the articulation indicatorlights can be embedded in and/or positioned on the outer housing of theshaft. In certain embodiments, the indicator lights are positionedinside the shaft, but are viewable from outside the shaft throughwindows and/or openings defined in the shaft, for example.

A surgical instrument 26000 is illustrated in FIGS. 26A and 26B. Thesurgical instrument 26000 comprises a handle 26100 and a shaft 12200extending from the handle 26100. The shaft 12200 comprises an endeffector 26400 including a staple cartridge jaw 26410 and an anvil jaw10420. The end effector 26400 further comprises a first articulationindicator light 26460 a positioned on a first side of the end effector26400 and a second articulation indicator light 26460 b positioned on asecond side of the end effector 26400. Similar to the above, the controlsystem of the surgical instrument 26000 illuminates the firstarticulation indicator light 26460 a when the end effector 26400 isarticulated in the first direction. In such instances, the controlsystem does not illuminate the second articulation indicator light 26460b. Correspondingly, the control system of the surgical instrument 26000illuminates the second articulation indicator light 26460 b when the endeffector 26400 is articulated in the second direction. In suchinstances, the control system does not illuminate the first articulationindicator light 26460 a. The indicator lights 26460 a and 26460 b aremounted to and/or embedded in the frame of the staple cartridge jaw26410. That said, the indicator lights 26460 a and 26460 b can bemounted to and/or embedded in the staple cartridge positioned in thestaple cartridge jaw 26410. In such instances, the staple cartridge jaw26410 comprises an electrical circuit in communication with the controlsystem of the surgical instrument that is placed in communication withan electrical circuit in the staple cartridge when the staple cartridgeis seated in the staple cartridge jaw 26410.

As discussed above, the articulation system of a surgical instrument caninclude an articulation driver which is movable proximally to articulatethe end effector in a first direction and distally to articulate the endeffector in a second direction. Referring to FIG. 27 , a surgicalinstrument can comprise a handle 26100, a shaft 12200 extending from thehandle 26100, and an end effector 10400 rotatably connected to the shaft12200 about an articulation joint 10500. The shaft 12200 comprises anarticulation driver 10260 comprising a proximal end operably coupled toan articulation drive system and a distal end coupled to the endeffector 10400. To this end, the articulation driver 10260 extendsdistally past the articulation joint 10500 and, in this embodiment, ispartially visible to a clinician holding the surgical instrument. Theportion of the articulation driver 10260 visible to the clinician isalso visible to the clinician through an endoscope monitor. In fact, aclinician may be able to observe the motion of the articulation driver10260 through the endoscope monitor. The visible portion of thearticulation driver 10260 comprises indicia, such as indicia 24640 a′and 24640 b′, for example, thereon which correlates the movement of thearticulation driver 10260 to the movement of the end effector 10400. Inat least one instance, the indicia can comprise a first set of indiciawhich includes a distally-directed arrow 24640 a′ and a circular arrowindicating the direction that the end effector 10400 will be rotated ifthe articulation driver 10260 is moved distally. The indicia can alsocomprises a second set of indicia which includes a proximally-directedarrow 24640 b′ and a circular arrow in the opposite direction indicatingthe direction that the end effector 10400 will be rotated if thearticulation driver 10260 is moved proximally. An alternativearticulation driver 10260′ is illustrated in FIG. 28 that comprises alaterally-extending portion which can be readily visible to theclinician. In such instances, the above-discussed indicia is positionedon the laterally-extending portion.

A surgical instrument 19000 is illustrated in FIG. 19 . The surgicalinstrument 19000 is similar to the surgical instrument 15000 in manyrespects. The surgical instrument 19000 comprises a handle 19100 and ashaft 10200 extending from the handle 19100. The handle 19100 comprisesan articulation actuator 19160 in communication with the control systemof the surgical instrument 19000. As opposed to the articulationactuator 10160 which is arranged vertically, the articulation actuator19160 is arranged horizontally. The articulation actuator 19160comprises a slideable element 19162 which is slideable along an axiswhich is parallel to, or at least substantially parallel to, thelongitudinal axis of the shaft 10200. In at least one instance, the axisof the articulation actuator 19160 is aligned with the longitudinal axisof the shaft 10200. The slideable element 19162 is positioned within aslot 19164 on the handle 19100 of the surgical instrument 19000. Theslideable element 19162 is slideable distally to articulate the endeffector 10400 to the right of the handle 19100 and proximally toarticulate the end effector 10400 to the left of the handle 19100. Thisis true regardless of whether the end effector 10400 is rotated upwardlyor downwardly owing to the control responsiveness flipping when the endeffector 10400 is rotated past 90 degrees from its TDC position ineither direction. That said, the controls of the articulation actuator19160 can be reversed as outlined above.

The articulation actuator 19160 comprises a distal contact which is partof a first articulation control circuit and a proximal contact which ispart of a second articulation control circuit. The slideable element19162 engages the distal contact and closes the first articulationcontrol circuit when the slideable element 19162 is in its distalposition. The slideable element 19162 is not in contact with theproximal contact when the slideable element 19162 is in its distalposition and, as such, the second articulation control circuit is open.Similarly, the slideable element 19162 engages the proximal contact andcloses the second articulation control circuit when the slideableelement 19162 is in its proximal position. Correspondingly, theslideable element 19162 is not in contact with the distal contact whenthe slideable element 19162 is in its proximal position and, as such,the first articulation control circuit is open. In any event, thearticulation actuator 19160 comprises a detent 19163 in the middle ofthe range of motion of the slideable element 19162. The detent 19163 isconfigured to resist the motion of the slideable element 19162 as theslideable element 19162 moves from one side of the articulation actuator19160 to the other. Such resistance to the motion of the slideableelement 19162 can signal to the clinician that they will articulate theend effector 10400 in the opposite direction once they move theslideable element 19162 past that point. Moreover, such a detent 19163provides a place to park the slideable element 19162 such that the endeffector 10400 is not being articulated in either direction.

A surgical instrument 20000 is illustrated in FIG. 20 . The surgicalinstrument 20000 is similar to the surgical instrument 10000 in manyrespects. The surgical instrument 20000 comprises a handle 20100 and ashaft 12200 extending from the handle 20100. The handle 20100 comprisesan articulation actuator 20160 in communication with the control systemof the surgical instrument 20000. The articulation actuator 20160comprises a two-dimensional joystick movable within a plane which isaligned with, parallel to, or at least substantially parallel to, thelongitudinal axis of the shaft 12200. The joystick is movable distallyto articulate the end effector 10400 to the right of the handle 20100and proximally to articulate the end effector 10400 to the left of thehandle 20100. In at least one instance, the joystick comprises a handlehaving an inner end that is positioned in a sensor seat in communicationwith the control system of the surgical instrument 20000. The joystickis pivotable within the sensor seat by the clinician when the clinicianmanipulates the outer end of the joystick handle. Such movement of thejoystick is detectable by the control system which operates thearticulation system in response to the input from the sensor seat. Thearticulation actuator 20160 comprises one or more biasing mechanisms,such as springs, for example, configured to bias the joystick handle toa centered, or an at least substantially centered position, in thesensor seat in which the control system does not articulate the endeffector 10400.

As discussed above, the end effector 10400 is articulatable within aplane. In alternative embodiments, a surgical instrument comprises asecond articulation joint. In such embodiments, the end effector 10400is rotatable within more than one plane. In various embodiments, asurgical instrument comprises an articulation joint which permits theend effector 10400 to be rotated within a three-dimensional sphericalrange of positions. Referring to FIG. 21 , a surgical instrument 21000comprises a shaft 21200 including an articulation joint 21500 whichallows such articulation motion of the end effector 10400. The surgicalinstrument 21000 further comprises a handle 21100 including anarticulation actuator 21160 in communication with a control system ofthe surgical instrument 21000. The articulation actuator 21160 comprisesa three-dimensional joystick movable proximally, distally, upwardly,downwardly, and in compound directions. The joystick is movable distallyto articulate the end effector to the right of the handle 20100 andproximally to articulate the end effector to the left of the handle21100. The joystick is movable upwardly to articulate the end effectorupwardly and downwardly to articulate the end effector downwardly, forexample. The joystick is also movable in a direction which is bothupward and distal to move the end effector in a direction which is bothupward and to the right, for example. The joystick is also movable in adirection which is both downward and proximal to move the end effectorin a direction which is both downward and to the left, for example. Inat least one instance, the joystick comprises a handle having an innerend that is positioned in a sensor seat in communication with thecontrol system of the surgical instrument 21000. The joystick isorbitable within the sensor seat by the clinician when the clinicianmanipulates the outer end of the handle. Such movement of the joystickis detectable by the control system which operates the articulationsystem in response to the input from the sensor seat. The articulationactuator 21160 comprises one or more biasing mechanisms, such assprings, for example configured to bias the joystick handle to acentered, or an at least substantially centered position, in the sensorseat in which the control system does not articulate the end effector10400.

A surgical instrument 22000 is illustrated in FIGS. 22A and 22B. Thesurgical instrument 22000 is similar to the surgical instrument 21000 inmany respects. The surgical instrument 22000 comprises a handle 22100and a shaft 21200 extending from the handle 22100. The handle 22100comprises the articulation actuator 21160 positioned on the side of thehandle 22100 and, in addition, an articulation actuator 22160 positionedon the front of the handle 22100. Similar to the articulation actuator21160, the articulation actuator 22160 comprises a three-dimensionaljoystick in communication with the control system of the surgicalinstrument 21000 and is capable of articulating the end effector of thesurgical instrument 21000 in a three-dimensional field. The frontarticulation actuator 22160 is readily accessible by the index finger ofa clinician holding a pistol grip of the handle 22100. Alternativeembodiments are envisioned which comprise the articulation actuator22160, but not the articulation actuator 22160.

Referring to FIG. 23 , a surgical instrument 23000 comprises a shaft21200 including an articulation joint 21500 which allows forthree-dimensional articulation motion of the end effector 10400. Thesurgical instrument 23000 further comprises a handle 23100 including ahousing 23120 and, in addition, an articulation actuator 23160 incommunication with a control system of the surgical instrument 23000.The articulation actuator 23160 comprises a four-way tactile controlmovable proximally, distally, upwardly, downwardly, and in compounddirections. The four-way tactile control is movable distally toarticulate the end effector to the right of the handle 23100 andproximally to articulate the end effector to the left of the handle23100. The four-way tactile control is movable upwardly to articulatethe end effector upwardly and downwardly to articulate the end effectordownwardly. The four-way tactile control is also movable in a compounddirection that is both upward and distal to move the end effector in adirection that is both upward and to the right, for example. Thefour-way tactile control is also movable in a compound direction that isboth downward and proximal to move the end effector in a direction thatis both downward and to the left, for example. In at least one instance,the four-way tactile control comprises four depressable actuators—onefor each direction of right, left, up, and down—and each of which ispart of a control circuit in communication with the control system ofthe surgical instrument 23000. The movement of the four-way tactilecontrol is detectable by the control system which operates thearticulation system in a three-dimensional range in response to theinput from the articulation actuator 23160. The articulation actuator23160 comprises one or more biasing mechanisms, such as springs, forexample configured to bias the four-way tactile control to a centered,or an at least substantially centered position, in which the controlsystem does not articulate the end effector 10400.

A surgical instrument 24000 is illustrated in FIG. 24 . The surgicalinstrument 24000 is similar to the surgical instrument 23000 in manyrespects. The surgical instrument 24000 comprises a handle 24100including an articulation actuator 24160. Similar to the articulationactuator 23160, the articulation actuator 24160 comprises a four-waytactile control. That said, the articulation actuator 24160 comprises anintegral re-centering feature. More specifically, the articulationactuator 24160 comprises a depressable actuator positioned in the middleof the articulation actuator 24160 in communication with the controlsystem of the surgical instrument 24000. When the center actuator isdepressed, the control system operates to re-align the end effector10400 with the longitudinal axis of the shaft 10200, much like theactuation of the actuator 10170 discussed above. As a result of theabove, the re-centering actuator is positioned in the middle of the fourdirectional actuators making for a compact and intuitive arrangement.

A surgical instrument 25000 is illustrated in FIG. 25 . The surgicalinstrument 25000 is similar to the surgical instrument 24000 in manyrespects. The surgical instrument 25000 comprises a handle 25100including an articulation actuator 25160. Similar to the articulationactuator 23160, the articulation actuator 25160 comprises a four-waycontrol in communication with a control system of the surgicalinstrument 25000. That said, the four-way control comprises a capacitivesurface which allows a clinician to tap and/or drag their finger acrossthe surface of the articulation actuator 25160 to control thearticulation of the end effector in a three-dimensional range. In atleast one instance, the articulation actuator comprises a touchscreenand an array of capacitive sensors positioned under the touchscreenconfigured to detect the presence and/or motion of the clinician'sfinger, for example. In use, tapping the top of the capacitive surfacearticulates the end effector 10400 upwardly, tapping the bottom of thecapacitive surface articulates the end effector 10400 downwardly,tapping the distal end of the capacitive surface articulates the endeffector 10400 to the right, and tapping the proximal end of thecapacitive surface articulates the end effector 10400 to the left, forexample. Tapping the center of the articulation screen re-centers theend effector 10400 along the longitudinal axis of the shaft 21200. Whena rotating motion is made on the surface of the articulation actuator25160, the control system rotates the end effector 10400 in thedirection and/or speed indicated by the rotating motion. In variousinstances, the control system of the surgical instrument 25000 comprisesa pulse width modulation (PWM) control circuit for controlling the speedof the electric motor used to drive the articulation system of thesurgical instrument 25000. In at least one embodiment, the controlsystem comprises a frequency modulation (FM) control circuit in additionto or in lieu of the PWM control circuit for controlling the speed ofthe articulation motor.

As discussed above, an end effector of a surgical instrument can berotatable in more than one direction and/or plane. To achieve this, invarious embodiments, a surgical instrument comprises a firstmotor-driven system for moving the end effector in a left-to-rightmanner and a second motor-driven system for moving the end effector inan up-to-down manner. Both motor-driven systems are in communicationwith the control system of the surgical instrument and are drivablesequentially and/or concurrently by the control system to position theend effector in the direction indicated by the input from thearticulation actuator, or articulation actuators.

Many of the surgical instruments described above comprise a gripconfigured to be grasped by a clinician to rotate the shaft about alongitudinal axis. In various instances, the clinician can hold the gripwith one hand and can extend their index finger, for example, from thathand to grab the grip and rotate the shaft. Such an arrangement,however, requires the clinician to have a somewhat larger hand. Whilesuch a surgical instrument can be operated with one hand, a surgicalinstrument 27000 is illustrated in FIGS. 29 and 30 that may be easier touse. The surgical instrument 27000 comprises a handle 27100 and a shaft27200 extending from the handle 27100 that is rotatable about alongitudinal axis. The handle 27100 comprises a handle frame 27110 and ahousing that rotatably support the shaft 27200. The handle 27100 furthercomprises an actuator 27220 positioned on the front side of the handlehousing 27110 which, when rotated by the clinician, rotates the shaft27200 about its longitudinal axis L. The actuator 27220 is rotatablymounted to the handle housing 27110 and is rotatable about an axis Awhich is parallel to, or at least substantially parallel to, thelongitudinal axis of the shaft 27200. The actuator 27220 comprises aring of gear teeth extending around its perimeter which is operablyengaged with a ring of gear teeth extending around the perimeter of theshaft 27200 via a transmission gear 27225 such that, when the actuator27220 is rotated about its axis, the shaft 27200 is rotated about itslongitudinal axis. That said, the gear teeth of the actuator 27220 arenot directly engaged with the gear teeth of the shaft 27200; instead,the intermediate gear 27225—which is rotatably mounted in the handle27100—is directly engaged with the gear teeth of the actuator 27220 andthe shaft 27200. Such an arrangement synchronizes the motion of theactuator 27220 and the shaft 27200, i.e., rotating the actuator 27220 tothe right rotates the shaft 27200 to the right and rotating the actuator27220 to the left rotates the shaft 27200 to the left. Absent theintroduction of the intermediate gear 27225, the shaft 27200 wouldrotate in an opposite direction, but such an arrangement may provide atorque balance that promotes the stability of the instrument.

Further to the above, embodiments are envisioned in which the rotationof the shaft 27200 is driven by an electric motor. In variousembodiments, the actuator 27220, when rotated in the first direction,operates the electric motor to rotate the shaft 27200 in the firstdirection. Similarly, the electric motor rotates the shaft 27200 in thesecond direction when the actuator 27220 is rotated in the seconddirection. In at least one embodiment, the output shaft of the electricmotor comprises a pinion gear operably intermeshed with the ring of gearteeth around the shaft 27200. Moreover, in at least one embodiment, theactuator 27220 comprises one or more sensors configured to detect thedirection and degree of rotation of the actuator 27220 which are incommunication with a control system of the surgical instrument. Withthis data, the control system is configured to control the direction andspeed of the electric motor. In instances where the actuator 27220 isrotated a small amount in the first direction, for example, the shaft27220 is rotated slowly in the first direction whereas the shaft 27220is rotated quickly in the first direction when the actuator 27220 isrotated a larger amount in the first direction.

Further to the above, the actuator 27220 comprises a bar including afirst end and a second end. The orientation of the bar is synchronizedwith the orientation of the shaft 27200. When the first end of the baris directly above the second end, i.e., the first end is closest to theshaft 27200, the shaft 27200 is in its top-dead-center (TDC) position.Correspondingly, the shaft 27200 is in its bottom-dead-center (BDC)position when the second end of the bar is directly above the first end,i.e., the second end is closest to the shaft 27200. As a result of thisarrangement, the user of the surgical instrument has an intuitive feelof the orientation of the shaft 27200 based on the orientation of theactuator 27220.

A surgical instrument 30000 is illustrated in FIGS. 51 and 52 . Thesurgical instrument is similar to the surgical instrument 10000 in manyrespects. As opposed to the vertical articulation actuator 10160, thehandle of the surgical instrument 30000 comprises a horizontalarticulation actuator 30160. The horizontal articulation actuator 30160comprises a rocker switch which can be rocked distally to rotate the endeffector to the right and rocked proximally to rotate the end effectorto the left. A surgical instrument 31000 is illustrated in FIGS. 53 and54 . The surgical instrument is similar to the surgical instrument 10000in many respects. As opposed to the vertical articulation actuator10160, the handle of the surgical instrument 31000 comprises anarticulation actuator 31160. The articulation actuator 31160 comprises amulti-axis rocker switch that can be rocked proximal-to-distal toarticulate the end effector in one plane and up-to-down to articulatethe end effector in another plane. In various instances, thearticulation planes are orthogonal to one another, but can be arrangedin any suitable manner.

As discussed above, the control system of a surgical instrument cancomprise an algorithm which, according to predetermined criteria, flipsand/or otherwise re-orients the controls of the surgical instrument incertain instances. In various instances, as also discussed above, thealgorithm can be configured to flip the articulation controls of thesurgical instrument based on the rotation of the shaft relative to thehandle. Referring to FIG. 59 , a surgical instrument comprises a handlecomprising a Hall Effect sensor 33130, and/or any other suitable sensor,in communication with the control system of the surgical instrument and,in addition, a shaft 33200 including an array of magnets 33230 arrangedin a circular, or annular, pattern around the shroud, or grip, 10220 ofthe shaft 33200. Each magnet 33230 comprises a north pole (N) and asouth pole (S) and the magnets 33230 are arranged in the mannerindicated in FIG. 59 —the N poles of some of the magnets 33230 arefacing the handle while some S poles are facing toward the handle. Whenthe shaft 33200 is rotated relative to the handle, this arrangement ofthe magnets 33230 allows the control system to track the position of theshaft 33200 and understand the orientation, or rotation, of the shaft33200 relative to the handle. Within any three consecutive magnets33230, for example, the pattern of magnets 33230 create a uniqueidentifiable signature for a given rotation direction. That said, anysuitable number and/or arrangement of discrete magnets could be used.Although twelve magnets 33230 are used, less than twelve magnets couldbe used—such as six magnets, for example. Moreover, more than twelvemagnets could be used.

Referring to FIG. 60 , a surgical instrument comprises a handlecomprising a Hall Effect sensor 34130, and/or any other suitable sensor,in communication with the control system of the surgical instrument and,in addition, a shaft 34200 including a continuous annular magnet 34230attached to the shroud, or grip, 10220 of the shaft 34200. In variousinstances, the annular magnet 34230 comprises a disc or ring embeddedwith magnetic microstructures which is detectable by the Hall Effectsensor. The annular magnet 34230 comprises a continuous, but varying,magnetic pattern around the perimeter thereof which provides a trackablepattern for the control system to assess the orientation, or rotation,of the shaft 34200. In other embodiments, the annular magnet 34230comprises an intermittent magnetic pattern around the perimeter thereofthat is trackable by the control system.

Referring to FIG. 61 , a surgical instrument comprises a handlecomprising a RFID reader 35130 in communication with the control systemof the surgical instrument and, in addition, a shaft 35200 including acircular, or annular, array of RFID chips 35230 around the shroud, orgrip, 10220 of the shaft 35200. Each RFID chip comprises a uniqueidentification which is detectable by the RFID reader 35130 and, withthis information, the control system is able to assess the orientation,or rotation, of the shaft 35200 relative to the handle. Notably, theRFID reader 35130 has a limited range to read the RFID chips 35230 and,thus, may be only able to read the most-adjacent RFID chip 35230. Insome instances, the RFID reader 35130 can have sufficient range to readthe two most-adjacent RFID chips 35230. The shaft 35200 comprises fourRFID chips 35230, but can comprise any suitable number of RFID chips35230. That said, the accuracy, or resolution, of the assessment made bythe control system can be improved with more RFID chips in variousinstances.

Referring to FIG. 62 , a surgical instrument comprises a handlecomprising a Hall Effect sensor 36130 a, and/or any other suitablesensor, in communication with the control system of the surgicalinstrument and, in addition, a shaft 36200 including an array of magnets36230 a arranged in a circular, or annular, pattern around the shroud ofthe shaft 36200. The handle also comprises a RFID reader 36130 b incommunication with the control system of the surgical instrument and, inaddition, a circular, or annular, array of RFID chips 36230 b around theshroud of the shaft 36200. The control system is configured to use thedata from the Hall Effect sensor 36130 a and the RFID reader 36130 b toassess the orientation of the shaft 36200 relative to the handle.Notably, the RFID chips 36230 b are positioned intermediate the magnets36230 a which provides the control system with a detectable resolutionbetween adjacent magnets 36230 a. Similarly, the magnets 36230 a arepositioned intermediate the RFID chips 36230 b which provides thecontrol system with a detectable resolution between the RFID chips 36230b.

A surgical instrument 37000 is illustrated in FIGS. 63-66 . The surgicalinstrument 37000 comprises a handle 37100 and a shaft 37200 extendingfrom the handle 37100. The surgical instrument 37000 further comprises aslip joint 37900 between the handle 37100 and the shaft 37200. The slipjoint 37900 comprises an electrical interface between the handle 37100and the shaft 37200. The slip joint 37900 comprises annular rings 37930mounted in the shaft 37200. Four annular rings 37930 are depicted inFIGS. 63 and 64 , but a slip joint can comprise any suitable number ofrings. The slip joint 37900 further comprises electrical contacts 37130in the handle 37100. For instance, the slip joint 37900 comprises afirst electrical contact 37130 engaged with a first annular ring 37930and a second electrical contact 37130 engaged with a second annular ring37930. That said, the slip joint 37900 can comprise any suitable numberof electrical contacts to maintain power and/or signal communicationbetween the handle and the shaft. Throughout the rotation of the shaft37200, i.e., all 360 degrees, the electrical contacts 37130 remain inelectrical contact with their respective annular rings 37930. In variousinstances, each electrical contact 37130 comprises a spring elementconfigured to bias the electrical contact towards its respective annularring 37930. The electrical contacts 37130 are in communication with thecontrol system of the surgical instrument 37000—via separatecircuits—such that the control system can assess the resistance of thecircuits, and/or any other electrical properties of the circuits betweenthe control system and the slip joint 37900. That said, the electricalcontacts and rings of the slip joint 37900 can be part of any suitablecircuit arrangement.

Further to the above, the slip joint 37900 can be used as an absoluteposition sensor for the shaft 37200 relative to the handle 37100. Morespecifically, an intermediate annular ring 37930, i.e., the annular ring37930 between the first ring 37930 and the second ring 37930, can beused by the control system to assess the orientation of the shaft 37200.To this end, the slip joint 37900 comprises an intermediate electricalcontact 37130 in electrical communication with the intermediate annularring 37930 and the control system as part of an intermediate electricalcircuit. The intermediate annular ring 37930 is comprised of ahigh-resistance material, as compared to the first and second annularrings 37930, and provides a 10,000 Ohm resistance, for example. Theintermediate annular ring 37930 has a first portion which iselectrically coupled to the first annular ring 37930, a second annularportion which is electrically coupled to the second annular ring 37930,and a small break therebetween. When the shaft 37200 is rotated relativeto the handle 37100, the intermediate electrical contact 37130 slidesalong the intermediate annular ring 37930 and the resistance and voltageof the intermediate electrical circuit changes in a manner which isdetectable by the control system owing to the closing and opening of thebreak by the intermediate contact 37130. The signal from theintermediate electrical circuit is digitized by an analog-digitalconverter of the control system, the data from which is usable by thecontrol system to assess the orientation of the shaft 37200. In variousinstances, any suitable number of gaps in the intermediate annular ring37930 and/or intermediate contacts 37130 can be used to provide a signalwith sufficient resolution to determine the orientation, or rotation, ofthe shaft 37200 relative to the handle 37100.

In various embodiments, a resistive material is embedded in the shaft ofa surgical instrument which is part of an electrical circuit that passesthrough a slip ring. As the shaft rotates, the resistance in theelectrical circuit changes—which is detectable by the control system ofthe surgical instrument to assess the angular orientation of the shaftrelative to the handle.

A representation of a surgical instrument 38000 is illustrated in FIG.67 . The surgical instrument 38000 comprises a handle 38100 and a shaft38200 extending from the handle 38100. The handle 38100 comprises anannular array of Hall Effect sensors 38130 affixed to the frame and/orhousing of the handle 38100. The Hall Effect sensors 38130 arepositioned along a circumference in the handle 38100, as illustrated inFIG. 67 . The Hall Effect sensors 38130 are in communication with thecontrol system via electrical circuits. The shaft 38200 comprises amagnet 38230 mounted to the shroud of the shaft 38200 which is aligned,or at least substantially aligned, with the circumference of the HallEffect sensors 38130. When the shaft 38200 is rotated about itslongitudinal axis, the magnet 38230 moves along the sensorcircumference. The sensors 38130 are positioned and arranged such thatone or more of the sensors 38130 can detect the position of the magnet38230 and, thus, the control system can determine the orientation of theshaft 38200 relative to the handle 38100 based on which Hall Effectsensors 38130 have detected the magnetic distortion, and the distortionintensity, created by the magnet 38230.

In various embodiments, a surgical instrument can include one or moreoptical sensors configured to detect the orientation of the shaftrelative to the handle. In at least one embodiment, the handle of thesurgical instrument comprises a light emitter and a light detector whichare in communication with the control system of the surgical instrument.The shaft comprises a reflective surface that rotates with the shaft.The light emitter emits light onto the reflective surface and the lightis reflected back into the light detector. The reflective surfacecomprises different portions with different reflectivities which createspatterns in the light reflected back to the light detector. With thisinformation, the control system can assess the orientation of the shaftrelative to the handle. In various instances, the reflective surfacecomprises openings and solid areas to create a binary off-on, orlow-high, reflection response signal, for example.

In various embodiments, a surgical instrument comprises anelectromechanical transducer, such as a linear variable differentialtransformer, for example, used in connection with a mechanical cam tomeasure the depth of the cam and relate it to the rotation angle of theshaft. In various embodiments, the handle of a surgical instrumentcomprises a magnetometer in communication with the control system and,in addition, and the shaft comprises a magnet which is detectable by themagnetometer.

In various embodiments, the shaft of a surgical instrument comprises agyroscope sensor in the shaft which is used by the control system toassess the orientation of the shaft relative to the handle. In at leastone such embodiment, the handle also comprises a gyroscope sensor incommunication with the control system such that the relative orientationof the handle and the shaft can be assessed. In various embodiments, theshaft of a surgical instrument comprises a tilt sensor which is used bythe control system to assess the orientation of the shaft relative tothe handle. In at least one embodiment, a SQ-MIN-200 sensor can be used.A SQ-MIN-200 sensor acts like a normally-closed sensor which chattersopen and closed as it is tilted or vibrated. That said, any suitableomnidirectional sensor, for example, could be used.

In various embodiments, a detectable element can be positioned on theclamp drive or closure tube of the shaft. When the shaft is rotated, theclosure tube rotates with the shaft. Thus, the one or more sensors ofthe handle can detect the orientation of the shaft relative to thehandle via the detectable element on the shaft. When the closure tube istranslated to close the end effector, as described herein, thedetectable element moves relative to the one or more sensors. Suchtranslation of the detectable element can also be used to verify theclosure of the end effector. In at least one instance, a Hall Effectsensor can be used to detect the rotation and translation of thedetectable element. In various instances, the control system of asurgical instrument is configured to prevent the end effector from beingarticulated while the end effector is closed. This arrangement providesthe feedback to the control system to determine not only theresponsiveness of the articulation controls, but whether or not thecontrol system should be responsive to the input from the articulationcontrols at all.

In various embodiments, referring again to FIGS. 27 and 28 , the distalend of the articulation actuator 10260 of the surgical instrument 10000is attached to the end effector 10400 such that the proximal and distaltranslation of the articulation actuator 10260 rotates the end effector10400 about the articulation joint 10500. Referring to FIG. 32 , theshaft 10200 of the surgical instrument 10000 comprises a shaft frame10210 which slideably supports the articulation actuator 10260. Althoughnot illustrated in FIG. 32 , the shaft 10200 further comprises a pivotpin 10215 extending from the frame 10210. The pivot pin 10215 is closelyreceived within a pivot aperture 10415 defined in the staple cartridgejaw 10410 of the end effector 10400 which defines an articulation axisAA of the articulation joint 10500. The articulation driver 10260comprises a distal end including an aperture 10262 defined therein andthe end effector 10400 further comprises an articulation pin 10460extending from the proximal end of the staple cartridge jaw 10410 intothe aperture 10262. When the articulation actuator 10260 is translated,as described above, the sidewalls of the aperture 10262 engage thearticulation pin 10460 and either push or pull the articulation pin10460—depending on the direction in which the articulation actuator10260 is translated. The entire disclosure of U.S. Pat. No. 9,101,358,entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,which issued on Aug. 11, 2015, is incorporated by reference herein. Theentire disclosure of U.S. Pat. No. 5,865,361, entitled SURGICAL STAPLINGAPPARATUS, which issued on Feb. 2, 2019, is incorporated by referenceherein.

Further to the above, the end effector 10400 defines an end effectoraxis EA and the shaft 10200 defines a longitudinal shaft axis LSA. Whenthe end effector 10400 is in an unarticulated position, the end effectoraxis EA is aligned, or at least substantially aligned, with thelongitudinal shaft axis LSA. When the end effector 10400 is in anarticulated position, as illustrated in FIG. 32 , the end effector axisEA is transverse to the longitudinal shaft axis LSA. The aperture 10262is elongate in order to accommodate relative movement between thearticulation pin 10460 and the articulation driver 10260; however, forlarge articulation angles, the articulation driver 10260 may bind and/orflex which can, without more, result in the articulation driver 10260decoupling from the articulation pin 10460. With that in mind, the endeffector 10400 further comprises a retention plate 10600 configured tohold the articulation driver 10260 in engagement with the articulationpin 10460. The retention plate 10600 comprises a planar, or an at leastsubstantially planar portion, which extends over the distal end of thearticulation driver 10260 and comprises an aperture 10660 definedtherein, the sidewalls of which are engaged with the articulation pin10460. As a result, the articulation driver 10260 is trapped between thestaple cartridge jaw 10410 and the retention plate 10600 such that thearticulation driver 10260 does not unintentionally disengage from thestaple cartridge jaw 10410. The retention plate 10600 is fixedly mountedto the staple cartridge jaw 10410 such that there is little, if any,relative movement between the retention plate 10600 and the staplecartridge jaw 10410. The staple cartridge jaw 10410 comprises aretention lug 10430 and the retention plate 10600 comprises an aperture10630 defined therein, the sidewalls of which are engaged with theretention lug 10430 to hold the retention plate 10600 to the staplecartridge jaw 10410. In various instances, the retention plate 10600 cancomprise a spring and/or biasing member.

In addition to or in lieu of the retention plate 10600, referring now toFIG. 33 , a surgical instrument 10000′ comprises an end effector 10400′and an articulation joint 10500′ rotatably connecting the end effectorto the shaft 10200′. Further to the above, the articulation joint 10500′comprises a pin 10560′ extending from a shaft frame 10210′ of the shaft10200′ that is closely received within an aperture defined in the staplecartridge jaw 10410′ which defines the articulation axis AA for thearticulation joint 10500′. The surgical instrument 10000′ also comprisesan articulation driver 10260′ which comprises a distal end 10264′including a slot 10262′ defined therein. Similar to the above, thestaple cartridge jaw 10410′ comprises an articulation pin 10460′extending from the staple cartridge jaw 10410′ which extends into theslot 10262′ of the distal end 10264′ and the interaction between thesidewalls of the slot 10262′ and the articulation pin 10460′ drive theend effector 10400′ about the articulation joint 10500′. Notably, thepin 10560′ of the articulation joint 10500′ comprises a clearance relief10564′ defined therein to provide clearance for the longitudinalmovement of the articulation driver 10260′. The staple cartridge jaw10410′ also comprises a clearance relief 10414′ defined therein topermit clearance for the rotation of the staple cartridge jaw 10410′about the articulation joint 10500′. In order to prevent thearticulation driver 10260′ from becoming decoupled from the staplecartridge jaw 10410′, referring to FIGS. 34-37 , the articulation pin10460′ comprises a retention shoulder 10464′ extending from acylindrical portion 10462′. The retention shoulder 10464′ extends over aportion of the distal end 10264′ of the articulation driver 10260′throughout the articulation of the end effector 10400′. Thus, regardlessof whether the end effector 10400′ is articulated all the way to theleft (FIG. 35 ) or all the way to the right (FIG. 37 ), or anywhere inbetween, the retention shoulder 10464′ prevents, or at least limits thepossibility of, the articulation driver 10260′ disengaging from thestaple cartridge jaw 10410′.

In various embodiments, further to the above, the clearance relief10414′ comprises a retention shoulder or lip which prevents thearticulation driver 10260′ from decoupling from the articulation pin10460′. The retention shoulder 10464′ of the articulation pin 10460′ issized and configured such that the width of the retention shoulder10464′ is wider than the width of the slot 10262′. That said, the slot10262′ comprises a length which is larger than its width which permitsthe retention shoulder 10464′ to be interested through the slot 10262′such that the articulation driver 10260′ can be assembled to thearticulation pin 10460′. The width of the slot 10262′ is defined alongan axis that is parallel to the longitudinal axis of the shaft while thelength of the slot 10262′ is defined along an axis that is orthogonal tothe longitudinal axis of the shaft. Such an arrangement permits the endeffector to articulate relative to the shaft while minimizing bindingbetween the end effector and the articulation driver 10260′. That said,the articulation driver 10260′ is comprised of a flexible material thatpermits the articulation driver 10260′ to resiliently flex toaccommodate the end articulation of the end effector.

As discussed above, the end effector 10400 comprises a staple cartridgejaw 10410 configured to receive a replaceable staple cartridge, such asstaple cartridge 10430, for example, and an anvil jaw 10420 configuredto deform the staples ejected from the staple cartridge 10430. Thestaple cartridge jaw 10410 comprises a channel including a bottomsupport and two lateral sidewalls extending upwardly configured toreceive the staple cartridge 10430. The staple cartridge 10430 comprisesa proximal end 10432, a distal end 10434, and a deck 10433 extendingbetween the proximal end 10432 and the distal end 10434. When the staplecartridge 10430 is inserted into the staple cartridge jaw 10410, theproximal end 10432 is guided into position between the staple cartridgejaw 10410 and the anvil jaw 10420 and then seated into the staplecartridge jaw 10410. The anvil jaw 10420 comprises a proximal end 10422,a distal end 10424, a tissue compression surface 10423 extending betweenthe proximal end 10422 and the distal end 10424, and a pivot 10421rotatably connecting the anvil jaw 10420 to the staple cartridge jaw10410. Referring to FIG. 44 , the anvil jaw 10420 comprises lateral pinsthat extend into apertures 10411 defined in the staple cartridge jaw10410. As discussed above, the anvil jaw 10420 is rotatable into aclosed, or clamped, position by the closure drive of the staplinginstrument 10000. When the closure drive is retracted, the anvil jaw10420 is opened. Referring to FIGS. 38-43 , the stapling instrument10000 further comprises one or more biasing members, or springs, 10446configured to open the anvil jaw 10420 when the closure drive isretracted. The surgical instrument 10000 comprises two opening springs10446, but could comprise any suitable number of biasing members. In anyevent, each spring 10446 is positioned in a recess 10416 defined in thestaple cartridge jaw 10410. The recesses 10416 closely receive thesprings 10446 such that the springs 10446 do not buckle under acompressive load; however, the recesses 10416 are sized and configuredto accommodate any lateral expansion of the springs 10446 as the anviljaw 10420 is being closed.

Referring primarily to FIG. 42 , the anvil jaw 10420 comprises lateraltabs 10426 adjacent the proximal end 10422 of the anvil 10420 which arein contact with the springs 10446. When the anvil jaw 10420 is closed,the springs 10446 are compressed between the lateral tabs 10426 and thebottom of the recesses 10416. When the closure system is retracted, thesprings 10446 resiliently re-expand and push upwardly on the lateraltabs 10426 to rotate the anvil jaw 10420 into its open, or unclamped,position. Notably, referring primarily to FIG. 40 , the staple cartridgejaw 10410 has a stop portion 10419 defined thereon which is contacted bythe proximal end 10422 of the anvil 10420 when the anvil 10420 reachesits fully-open position. The anvil 10420 comprises a proximal stopsurface 10429 which contacts the stop portion 10419 of the staplecartridge jaw 10410. In such instances, the anvil jaw 10420 cannot beopened any further. As a result of the above, the springs 10446 hold theanvil jaw 10420 against the stop portion 10419 of the staple cartridgejaw 10410 until the anvil jaw 10420 is closed once again.

When the anvil jaw 10420 is in its open position, the staple cartridgejaw 10410 is positioned on one side of the tissue that is to be stapledand the anvil jaw 10420 is positioned on the opposite side. In suchinstances, the end effector 10400 is moved relative to the tissue untilthe tissue is suitably positioned between the staple cartridge jaw 10410and the anvil jaw 10420. The anvil jaw 10420 comprises lateral tissuestops 10427 which extend downwardly alongside the staple cartridge jaw10410 which are configured to make sure that the tissue positionedwithin the end effector 10400 is positioned over the staple cavities inthe staple cartridge 10430. Referring primarily to FIG. 39 , the tissuestops 10427 extend distally with respect to the proximal-most staplecavities 10440. In at least one instance, the tissue stops 10427 extenddistally with respect to at least one staple cavity 10440 in eachlongitudinal row of staple cavities 10440. As a result, the tissue stops10427 make sure that the tissue captured in the end effector 10400 isnot cut by the tissue cutting knife without being stapled. When theanvil jaw 10420 is closed, the tissue stops 10427 move relative to thestaple cartridge jaw 10410. The tissue stops 10427 are sized andconfigured such that tissue does not become accidentally pinched betweenthe tissue stops 10427 and the lateral sides of the staple cartridge jaw10410. More specifically, the bottom edges 10428 of the tissue stops10427 are configured such that they extend alongside the lateral sidesof the staple cartridge jaw 10410 even when the anvil jaw 10420 is inits fully-open position, as illustrated in FIG. 39 . Notably, thelateral sides 10415 of the staple cartridge jaw 10410 extend upwardlyabove the deck 10433 to make sure that there is overlap between thetissue stops 10427 and the lateral sides 10415 of the staple cartridgejaw 10410—when viewed from the side—throughout the entire range ofmotion of the anvil jaw 10420.

In various embodiments, further to the above, the distal edges of thetissue stops 10427 extend below the deck 10433 throughout the entirerange of motion of the anvil jaw 10420. Thus, the distal edges of thetissue stops 10427 extend below the top surface of the deck 10433 whenthe anvil jaw 10420 is in its fully-open position and its fully-clampedposition. Such an arrangement reduces the possibility of the tissuebeing pinched when the anvil jaw 10420 is moved. In certain embodiments,the staple cartridge comprises tissue stops that extend upwardly fromthe deck 10433 alongside the tissue stops 10427. Similar to the above,the distal edges of the tissue stops 10427 extend below the cartridgetissue stops through the entire range of motion of the anvil jaw 10420.Such an arrangement also reduces the possibility of the tissue beingpinched when the anvil jaw 10420 is moved. Moreover, these arrangementswould be useful in embodiments where the staple cartridge jaw 10410moves relative to the anvil jaw 10420.

As discussed above and referring primarily to FIGS. 44, 45A, and 45B theend effector 10400 comprises a staple cartridge jaw 10410 that includesspring recesses 10416 defined therein which comprise wider top openings10416′. The spring recesses 10416 still support the springs 10446 andkeep them from buckling, but the wider top openings 10416′ of the springrecesses 10416 provide clearance for the lateral tabs 10426 when theanvil jaw 10420 is in its closed position. In such an arrangement, thelateral tabs 10426 can move into the staple cartridge jaw 10410 tocompress the springs 10446. In such instances, the springs 10446 can behighly compressed by the anvil jaw 10420, thereby assuring a strongopening force from the springs 10446 when the anvil jaw 10420 isreleased by the closure drive. The above being said, embodiments areenvisioned without the wider top openings 10416′. In such embodiments,the springs are closely received by the spring recesses 10416 along thelength of the springs 10446.

The tissue cutting member 10251 of the firing drive of the staplinginstrument 10000 is illustrated in FIGS. 46 and 47 , the tissue cuttingmember comprises a body including a distal nose 10258 and a tissuecutting edge 10259 which pass through the end effector 10400 during astaple firing stroke. The tissue cutting member 10251 further comprisesa top cam member 10255 configured to engage the anvil jaw 10420 and abottom cam member 10256 configured to engage the staple cartridge jaw10410 during the staple firing stroke. A longitudinal cam surface 10425in a longitudinal slot of the anvil jaw 10420 can be seen in FIG. 46which is engaged by the top cam member 10255 during the staple firingstroke. The staple cartridge jaw 10410 also has a longitudinal camsurface 10419 which is engaged by the bottom cam member 10256. The cammembers 10255 and 10256 position the jaws 10410 and 10420 relative toone another during the staple firing stroke and hold the jaws 10410 and10420 in their closed configuration throughout the staple firing stroke.The cam members 10255 and 10256 also set the staple forming gap betweenthe staple drivers in the staple cartridge and the forming pocketsdefined in the anvil jaw 10420.

Notably, FIGS. 46 and 47 illustrate the anvil jaw 10420 in its openposition and the tissue cutting member 10251 in its unfired position,i.e., its position before the staple firing stroke has begun. The anviljaw 10420 comprises a clearance pocket 10450 defined therein which isaligned with the top cam member 10255 of the tissue cutting member 10251when the tissue cutting member 10251 is in its unfired position. Such anarrangement allows the tissue cutting member 10251 to be parked justproximal to the longitudinal cam surface 10425 in the anvil jaw 10420,and the corresponding cam surface in the staple cartridge jaw 10410,when the tissue cutting member 10251 is in its unfired position. Such anarrangement provides for a shorter, and more maneuverable, end effectorfor a given staple line length. Moreover, the tissue cutting member10251 comprises a tissue cutting edge 10259 that is positionedproximally with respect to the staple cavities defined in the staplecartridge and proximally with respect to the distal edges of the tissuestops when the tissue cutting member is in its unfired position. As aresult, the tissue being inserted into the end effector is unlikely tobe cut by the tissue cutting edge 10259 until the tissue cutting member10251 is advanced distally from its unfired position during a firingstroke.

Further to the above, it is desirable for the tissue cutting member10251 to be in its unfired position at the beginning of the staplefiring stroke. If the tissue cutting member 10251 is not in its unfiredposition at the outset of the staple firing stroke, a missingcartridge/spent cartridge lockout of the stapling instrument 10000 maybe accidentally bypassed. Referring to FIG. 41 , the lockout of thestapling instrument 10000 comprises a shoulder 10417 defined in thebottom of the staple cartridge jaw 10410. If a proper unspent staplecartridge is seated in the staple cartridge jaw 10410 at the outset ofthe staple firing stroke, and the tissue cutting member 10251 is in itsunfired position at the outset of the staple firing stroke, the tissuecutting member 10251 will be lifted over the lockout shoulder 10417.More specifically, referring to FIG. 46 , the nose 10258 of the tissuecutting member 10251 will be supported by a staple driving sled in thestaple cartridge such that lockout tabs 10257 of the firing member10251, and/or any other portion of the firing member 10251, do notcontact the lockout shoulder 10417. If, however, a staple cartridge isnot seated in the staple cartridge jaw 10410, a staple cartridge isseated the staple cartridge jaw 10410 but has been previously spent, oran incorrect staple cartridge is seated in the staple cartridge jaw10410, the sled will not support the nose 10258 of the tissue cuttingmember 10251 and the lockout tabs 10257 will contact the lockoutshoulder 10417 at the outset of the staple firing stroke—therebypreventing the staple firing stroke. If the tissue cutting member 10251is somehow positioned distally with respect to the lockout shoulder10417 at the outset of the staple firing stroke, however, the advantagesprovided by the lockout of the surgical instrument 10000 are lost.

The entire disclosures of U.S. Pat. No. 7,143,923, entitled SURGICALSTAPLING INSTRUMENT HAVING A FIRING LOCKOUT FOR AN UNCLOSED ANVIL, whichissued on Dec. 5, 2006; U.S. Pat. No. 7,044,352, SURGICAL STAPLINGINSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING,which issued on May 16, 2006; U.S. Pat. No. 7,000,818, SURGICAL STAPLINGINSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, whichissued on Feb. 21, 2006; U.S. Pat. No. 6,988,649, SURGICAL STAPLINGINSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT, which issued on Jan. 24,2006; and U.S. Pat. No. 6,978,921, SURGICAL STAPLING INSTRUMENTINCORPORATING AN E-BEAM FIRING MECHANISM, which issued on Dec. 27, 2005,are incorporated by reference herein.

The above being said, referring to FIG. 48 , the anvil jaw 10420comprises shoulders, or stops, 10455 defined thereon which areconfigured to contact the top cam member 10255 of the tissue cuttingmember 10251 when the anvil jaw 10420 is moved into its open position.In such instances, the anvil jaw 10420 positions the tissue cuttingmember 10251 in its unfired position even if the tissue cutting member10251 has been accidentally moved or positioned too far distally. Suchan arrangement is particularly useful after the surgical instrument10000 has already been used at least once and the staple firing systemhas been reset, or retracted as, in some instances, the tissue cuttingmember 10251 may not have been fully returned to its unfired positionafter the last staple firing stroke. As a result of the above, thepossibility of the lockout of the surgical instrument 10000 beingaccidentally bypassed is reduced. Notably, the shoulders 10455 and theclearance pocket 10450 are positioned proximally with respect to thedistal edges of the tissue stops 10427 which assures that the tissuecutting member 10251 is positioned proximally relative to the tissuecaptured within the end effector such that the tissue is notaccidentally incised against the tissue cutting member 10251.

As discussed above, the articulation driver 10260 is translatableproximally and distally to articulate the end effector 10400 about thearticulation joint 10500. That said, the articulation driver 10260 isactually a distal articulation driver of the articulation drive system.Referring to FIGS. 72 and 74-76 , the articulation drive system furthercomprises a translatable proximal articulation driver 10270 which movesthe distal articulation driver 10260. The articulation drive system alsocomprises an articulation lock 10280 positioned intermediate theproximal articulation driver 10270 and the distal articulation driver10260, as described in greater detail below. The proximal articulationdriver 10270 comprises an articulation rod 10272, a proximal pushprojection 10274 extending from the articulation rod 10272, and a distalpull projection 10276 extending from the articulation rod 10272. Whenthe proximal articulation driver 10270 is pushed distally, the proximalpush projection 10274 contacts the articulation lock 10280, unlocks thearticulation lock 10280, and drives the distal articulation driver 10260distally to articulate the end effector 10400. When the proximalarticulation driver 10270 is stopped, the articulation lock 10280automatically re-locks and holds the end effector 10400 in position.When the proximal articulation driver 10270 is pulled proximally, thedistal pull projection 10276 contacts the articulation lock 10280,unlocks the articulation lock 10280, and pulls the distal articulationdriver 10260 proximally to articulate the end effector 10400. Similar tothe above, the articulation lock 10280 automatically re-locks when theproximal articulation driver 10270 stops. When the articulation lock10280 is locked, the end effector 10400 is prevented from beingback-driven or unintentionally moved out of its position. When thearticulation lock 10280 is unlocked, the end effector 10400 can bearticulated into a new position.

Further to the above, referring to FIG. 72 , a space 10275 is definedbetween the projections 10274 and 10276 of the proximal articulationdriver 10270. The distal articulation driver 10260 comprises a similararrangement. More specifically, the distal articulation driver 10260comprises a proximal projection 10269 and a distal projection 10267 witha space defined between them. The projections 10274 and 10276 of theproximal articulation driver 10270 are positioned within, and movewithin, this space defined between the projections 10267 and 10269 ofthe distal articulation driver 10260. The articulation lock 10280comprises a stationary rod 10282 extending through the distalarticulation driver 10260 and lock members 10284 rotatably and slideablymounted to the stationary rod 10282. The lock members 10284 are biasedinto a locked position by a spring 10286 positioned between two sets oflock members 10284 which causes the lock members 10284 to bite into thestationary rod 10282. When the proximal articulation rod 10270 istranslated, however, the proximal articulation rod 10270 pushes on thelock members 10284 to rotate them out of their locked position so thatthe end effector 10400 can be articulated.

Further to the above, the projections 10274 and 10276 of the proximalarticulation driver 10270 directly contact the lock members 10284.Referring to FIG. 74A, the projections 10274 and 10276 each comprises aprojection, or bump, 10277 extending therefrom which engages the lockmembers 10284. The bumps 10277 provide a large pushing area for theproximal articulation driver 10270 to push against the lock members10284. By way of comparison, a proximal articulation driver 10270′ isillustrated in FIGS. 73 and 73A which does not have the bumps 10277 onits projections 10274′ and 10276′. The arrangement of FIGS. 73 and 73Ais still useful, but the contact area between the proximal articulationdriver 10270′ and lock members 10284 is smaller than the contact areabetween the proximal articulation driver 10270 and the lock members10284. As a result of the larger contact area with the lock members10284, the stress and strain in the proximal articulation driver 10270is smaller than that of the proximal articulation driver 10270′.Moreover, the arrangement of the bumps 10277 can increase the torque armbetween the proximal articulation driver 10270 and the lock members10284 thereby lowering the force needed to unlock the articulation lock10280.

Described herein are various mechanisms and methods for determining theorientation of the shaft relative to the handle. Many of thesemechanisms are able to evaluate the orientation of the shaft in realtime and without regard to the previous orientation, or orientations, ofthe shaft. Such arrangements are particularly useful when the surgicalinstrument loses power, for example. When the surgical instrumentre-powers, the control system can immediately assess the orientation ofthe shaft and the proper responsiveness of the articulation controls,for example. Moreover, the surgical instruments disclosed herein can beconfigured to immediately assess the articulation angle of the endeffector when the surgical instrument is re-powered. Upon re-powering,the control system will evaluate whether the end effector is in a closedconfiguration or an open configuration. If the end effector is in aclosed configuration upon re-powering, the control system will determinethat the surgical instrument lost power during the staple firing modeand prompt the clinician to retract the staple firing system. If the endeffector is in an open configuration upon re-powering, or once the endeffector is in an open position upon re-powering, the control systemwill seek to make sure that the articulation drive system is coupled tothe staple firing system such that the end effector can be straightened,or otherwise suitably oriented by the clinician, to remove the surgicalinstrument from the patient. FIG. 78 depicts an algorithm 39000 for thecontrol system to assure that the articulation system is engaged withthe staple firing drive. In this algorithm, the control system sweepsthe staple firing drive between the positions associated with thefurthest-right end effector position and its furthest-left end effectorposition such that, if the articulation drive was not already coupled tothe firing drive, it would become so. These far-right and far-leftorientations of the end effector correspond to the distal-most andproximal-most positions of the articulation driver 10260, as illustratedin FIG. 77 . These positions are also the distal-most and theproximal-most positions, respectively, of the articulation driver 10270.The control system comprises one or more non-volatile device memoriesfor storing information regarding the distal-most (far-rightorientation) and proximal-most (far-left orientation) positions of thearticulation drive system. As such, this information is available to thecontrol system upon re-powering and the control system can limit itsassessment to this range. In various embodiments, the surgicalinstrument can comprise a sensor configured to assess whether or not thearticulation drive is mechanically coupled to the staple firing drive.

Further to the above, the algorithm 39000 comprises a step 39100 inwhich the control system assess whether or not an articulation button isdepressed at the start-up, or initialization, of the surgicalinstrument. If it is determined at step 39100 that an articulationbutton is not depressed, the algorithm follows logic path 39200. Inlogic path 39200, the control system actuates the electric motor thatdrives the articulation system at step 39300 to push the articulationdriver 10260 distally to articulate the end effector to the right. Thecontrol system then waits a predetermined amount of time at step 39400before proceeding to step 39600 in which the control system actuates themotor in an opposite direction to pull the articulation driver 10260proximally and articulate the end effector to the left. The controlsystem then waits again for a predetermined amount of time at step 39700and, after this time, waits for an input command at step 39800. Invarious embodiments, the control system comprises a timer circuit forcounting the appropriate amount of time. If, on the other hand, thecontrol system detects that the left articulation control is actuated atstep 39100, the algorithm 39000 follows logic path 39500 and articulatesthe end effector to the left. If the control system detects that theright articulation control is actuated at step 39100, the algorithm39000 follows a logic path that articulates the end effector to theright.

During a staple firing stroke, further to the above, the staples of astaple cartridge are progressively ejected by a firing member. Thefiring member ejects the proximal staples of the staple cartridge at thebeginning of the staple firing stroke and the distal staples at the endof the staple firing stroke. In instances where all of the staples of astaple cartridge properly contact their staple forming pockets in theanvil positioned opposite to the staple cartridge, the staples willproperly form and the staple firing force will be low. In instanceswhere some of the staples miss their staple forming pockets, suchstaples may malform thereby increasing the force required to perform thestaple firing stroke. Slowing the staple firing stroke may improvestaple formation and lower the force required to perform the staplefiring stroke. In various instances, detecting the force being appliedby the staple firing system can be directly detected through one or moreforce sensors and/or strain gauges, for example. In other instances,detecting the force can be achieved by a current sensor or ammetercircuit, for example, which measures the current to the electric motorof the staple firing drive. The entire disclosure of U.S. patentapplication Ser. No. 16/361,793, entitled SURGICAL INSTRUMENT COMPRISINGAN ADAPTIVE CONTROL SYSTEM, filed on Mar. 22, 2019 is incorporated byreference herein. These approaches may be suitable in various instances,but described below are embodiments and methods which assess the dutycycle of the staple firing system during the staple firing stroke.

Further to the above, the control system of the surgical instrument10000 comprises a pulse width modulation (PWM) control circuitconfigured to control the speed of the firing drive electric motor. ThePWM control circuit applies voltage pulses to the firing drive electricmotor to perform the staple firing stroke. In various instances, the PWMcontrol circuit increases the duration of the voltage pulses it appliesto the firing drive electric motor in order to increase the speed of thefiring drive electric motor and, correspondingly, the speed of thestaple firing stroke. In other instances, the PWM control circuitdecreases the duration of the voltage pulses it applies to the firingdrive electric motor in order to decrease the speed of the firing driveelectric motor and, correspondingly, the speed of the staple firingstroke. In either event, the PWM control circuit can make these pulselength adjustments without substantially increasing or decreasing themagnitude of the voltage pulses being applied to the motor. That said,embodiments are envisioned in which the magnitude of the voltage pulses,or certain voltage pulses, could be changed. In any event, as describedin greater detail below, the control system is configured to drive thestaple firing drive at a constant, or near constant, speed by adjustingthe duration of the pulses via the PWM circuit. The entire disclosure ofU.S. Pat. No. 8,499,992, entitled DEVICE AND METHOD FOR CONTROLLINGCOMPRESSION OF TISSUE, which issued on Aug. 6, 2013, is incorporated byreference herein.

The ratio of the time in which the voltage is applied to the electricmotor (ON time) by the PWM circuit divided by the total time (ONtime+OFF time) is the duty cycle of the staple firing drive motor. Thus,the duty cycle can range between 0% (completely OFF) and 100%(completely ON), i.e., a constant voltage without periodicinterruptions. The terms ON and OFF suggest a non-zero voltage and azero voltage; however, the terms ON and OFF are inclusive of HIGH andLOW voltages, respectively. The terms LOW or OFF include zero voltageand non-zero voltages that have a magnitude which is less than the HIGHor ON voltage. In view of the above, another way of expressing the dutycycle of the firing drive electric motor is the ratio of the time inwhich the voltage is applied to the electric motor (HIGH time) by thePWM circuit divided by the total time (HIGH time+LOW time).

The PWM control circuit applies the voltage pulses to the firing driveelectric motor at regular intervals; however, the control system cancomprise a frequency modulation (FM) control circuit to change thefrequency of the voltage pulse intervals. In various instances, the FMcontrol circuit decreases the interval between the voltage pulses toincrease the speed of the firing drive electric motor and the staplefiring stroke. Correspondingly, the FM control circuit increases theinterval between the voltage pulses to decrease the speed of the firingdrive electric motor and the staple firing stroke. In addition to or inlieu of the above, the control system can increase the magnitude of thevoltage it applies to the firing drive electric motor to increase thespeed of the firing drive electric motor and the staple firing strokeand/or decrease the magnitude of the voltage it applies to the firingdrive electric motor to decrease the speed of the firing drive electricmotor and the staple firing stroke.

The control system of the surgical instrument 10000 comprises analgorithm for controlling the speed of the staple firing member.Referring to FIG. 79 , the control system includes an algorithm 50000configured to drive the staple firing member at a low speed, anintermediate speed, and a high speed. The low speed is 6 mm/s, orapproximately 6 mm/s. The intermediate speed is 12 mm/s, orapproximately 12 mm/s. The high speed is 20 mm/s, or approximately 20mm/s. That said, a control system can be configured to operate thestaple firing drive at any suitable number of speeds and/or at anysuitable speed. The control system is configured to monitor the speed ofthe staple firing drive, via a motor speed sensor, and adjust the lengthof the voltage pulses applied to the electric motor of the staple firingdrive to bring the speed of the staple firing drive to the target speed.For instance, if the target speed of the staple firing drive at a givenpoint in the staple firing stroke is 12 mm/s and the actual speed is 11mm/s, the control system increases the length of the voltage pulses itis applying to the electric motor to increase the speed of the staplefiring drive. Stated another way, the control system increases the dutycycle of the firing drive electric motor to increase the speed of thestaple firing drive. Correspondingly, the control system is configuredto shorten the length of the voltage pulses it is applying to the firingdrive electric motor if the speed of the staple firing drive exceeds thetarget speed until the speed of the staple firing drive reaches thetarget speed. Stated another way, the control system is configured tolower the duty cycle of the firing drive electric motor to decrease thespeed of the staple firing drive. Notably, the target speed for thestaple firing drive can change during the staple firing stroke, asdescribed in greater detail below.

As discussed above, the firing member of the staple firing drive ismoved distally during the staple firing stroke. Referring to FIGS. 47and 79 , the firing member is advanced distally from its proximal,unfired position to move the top cam member 10255 of the firing memberup the ramp of the internal slot 10425 defined in the anvil 10420. Thedistance between the proximal, unfired position and the distal end ofthe internal slot ramp is 15 mm, or approximately 15 mm, for example.This initial 15 mm motion of the firing member can be used to close theend effector and/or pass over the firing lockout described above if aproper unspent staple cartridge is seated in the end effector. Thatbeing said, during this range of motion, the control system moves thefiring member distally at the intermediate speed of 12 mm/s andevaluates the duty cycle needed to drive the staple firing member atthis speed. If the duty cycle is between 40% and 60% in this initialrange, the control system continues to drive the staple firing drive atthe intermediate speed of 12 mm/s. If the duty cycle is above 60%, thecontrol system lowers the target speed of the staple firing drive to thelow speed of 6 mm/s. Such instances can arise when thick tissue ispresent between the anvil 10420 and the staple cartridge 10430. On theother hand, if the duty cycle is below 40% during this initial range,the control system increases the target speed to the high speed of 20mm/s. Such instances can arise when thin tissue is present between theanvil 10420 and the staple cartridge 10430. In FIG. 79 , the end of thisinitial range is demarcated by point A and, notably, staples are notdeployed, or fired, during this initial range. After point A, the firingmember fires the staples as the firing member is advanced distally untilthe firing member reaches the end of the staple firing stroke and/or theclinician stops the staple firing stroke by releasing the firingtrigger.

Referring to the algorithm 50000 in FIG. 79 , it can be seen that thestaple firing member was driven at the intermediate speed, 12 mm/s, forthe first 15 mm and then at the high speed, 20 mm/s, for the rest of thestaple firing stroke. As described above, this shift in speed occurredbecause the control system measured that the duty cycle was below 40%during the first 15 mm of the staple firing stroke. Had the firingmember been blocked by the lockout in the first 15 mm, however, the dutycycle would have spiked immediately to 100% and the control system isconfigured to immediately stop the staple firing stroke in response tosuch asymptotic duty cycle spikes. Once the firing member has passedthis initial 15 mm distance, in various instances, the remainder of thestaple firing stroke comprises approximately 30 mm, approximately 45 mm,or approximately 60 mm, for example. These lengths represent thedifferent staple pattern lengths that are currently desirable in manystaple cartridges, but any suitable staple pattern lengths could beused. In some embodiments, the control system does not re-evaluate theduty cycle of the staple firing drive to adjust the target speed of thefiring member after an initial evaluation of the firing drive dutycycle. The control system of embodiment of FIG. 79 , however, continuesto evaluate the duty cycle of the staple firing drive throughout thestaple firing stroke. At point C in the staple firing stroke, thecontrol system makes another adjustment to the target speed or maintainsthe target speed according to the criteria set forth above. As depictedin FIG. 79 , the duty cycle of the staple firing drive was determined tobe between 40% and 60% at point C and, thus, the control systemmaintained the target speed of 20 mm/s. Point C is half way betweenpoint A and the end of the staple firing stroke, i.e., half way into thestaple pattern. That said, point C can be at any suitable location.Moreover, the control system can be configured to adjust the targetspeed of the staple firing drive at any suitable number of points duringthe staple firing stroke. In at least one instance, the control systemcan make a target speed adjustment at every 15 mm during the staplefiring stroke, for example. For a 30 mm staple cartridge, the controlsystem could make a total of two target speed adjustments, asillustrated in FIG. 79 . For a 45 mm staple cartridge, the controlsystem could make a total of three target speed adjustments at 15 mmintervals and, for a 60 mm staple cartridge, the control system couldmake a total of four target speed adjustments at 15 mm intervals, forexample.

For the examples given above, the control system used the same set ofcriteria for evaluating the duty cycle at every target speed adjustmentpoint. That said, referring to FIG. 80 , embodiments are envisioned inwhich the control system uses different sets of duty cycle criteria atdifferent target speed adjustment points. For instance, the controlsystem can use a first set of duty cycle criteria at the first targetspeed adjustment point and a second set of duty cycle criteria at thesecond target speed adjustment point. In at least one instance,referring to the algorithm 51000 in FIG. 80 , the control systemincreases the target speed of the staple firing drive if the duty cycleis below 45% at the first target speed adjustment point. That said, thecontrol system increases the target speed of the staple firing drive atthe second target speed adjustment point if the duty cycle is below 40%.Any suitable threshold, or thresholds, could be used. In the embodimentillustrated in FIG. 80 , the upper duty cycle threshold of 60% is thesame at both the first and second target speed adjustment points in thealgorithm 51000. If the duty cycle is in excess of 60%, the controlsystem shortens the voltage pulses to slow the staple firing system. Inother embodiments, the upper duty cycle threshold can be different atthe first and second target speed adjustment points.

Further to the above, referring to FIG. 81 , the algorithm of thecontrol system increased the target speed at point A from theintermediate speed to the high speed but then lowered the target speedat point C from the high speed to the intermediate speed. At point C,the control system determined that the duty cycle of the firing driveelectric motor was above 60% and lowered the target speed one level,i.e., from the high speed to the intermediate speed. Notably, thecontrol system did not lower the target speed from the high speed to thelow speed at point C as the control system is configured to only raiseor lower the target speed one level at each check point. In order forthe target speed of the staple firing drive to be lowered from the highspeed to the low speed, the duty cycle would have to exceed the upperduty cycle threshold at two checkpoints. These checkpoints can beconsecutive checkpoints, or non-consecutive checkpoints. That said,embodiments are envisioned in which the control system comprises asafety duty cycle threshold that, if exceeded, would cause the controlsystem to drop the target speed of the staple firing drive to the lowspeed regardless of the speed of the staple firing drive prior to thatcheckpoint.

FIG. 82A depicts two graphs—a duty cycle graph (i) and a firing forcegraph (ii) of the staple firing drive. The duty cycle graph (i) and thefiring force graph (ii) are correlated to demonstrate three differentstaple firing strokes. Two of the staple firing strokes in FIG. 82A staybelow the 40% duty cycle threshold as the firing force is low. In suchstaple firing strokes, the control system increases the target speed ofthe staple firing system at each check point according to the currentalgorithm, although other algorithms are possible. One of the staplefiring strokes in FIG. 82A reaches a 100% duty cycle because the firingforce is high. When the duty cycle is in excess of 60% at a target speedadjustment point, the control system decreases the target speed of thestaple firing system according to the current algorithm, although otheralgorithms are possible. Notably, the duty cycle of this staple firingisn't above the 60% threshold at the beginning of the staple firingstroke and, as a result, the control system may not actually lower thetarget speed if the duty cycle didn't exceed the upper threshold of 60%until after the check point, or check points.

FIG. 82B depicts two graphs—a duty cycle graph (i) and a firing forcegraph (ii) of the staple firing drive. The duty cycle graph (i) and thefiring force graph (ii) are correlated to demonstrate three differentstaple firing strokes. Two of the staple firing strokes in FIG. 82B staybetween the 40% duty cycle threshold and the 60% duty cycle threshold asthe firing force is relatively low. In such staple firing strokes, thecontrol system does not change the target speed of the staple firingsystem according to the current algorithm, although other algorithms arepossible. One of the staple firing strokes in FIG. 82B reaches a 100%duty cycle, however, because the firing force is high. When the dutycycle is in excess of 60% at a target speed adjustment point, thecontrol system decreases the target speed of the staple firing systemaccording to the current algorithm, although other algorithms arepossible. In this instance, the duty cycle exceeded the upper duty cyclethreshold at about 20 mm distal to the proximal, unfired startingposition of the staple firing member. Stated another way, the duty cyclejumped above 60% as soon as the staple firing drive started to fire thestaples, i.e., at 5 mm past the 15 mm initial range discussed above. Asa result, the control system may not react to the elevated duty cycleuntil after a 30 mm checkpoint, for example.

Notably, further to the above, the graphs of FIGS. 82A and 82B, andseveral other graphs, depict a stream of dots along the staple firingstroke. These dots represent the data samples taken by the controlsystem. The closeness of the dots represents a fairly high data samplerate, although lower or higher data sample rates could be used. As canbe seen in these figures, the data is subject to a certain amount ofjitter or chatter which can cause the control system to react tooutlying data, especially when the duty cycle data is near the upper orlower duty cycle thresholds. In various instances, the control systemcan utilize a data smoothing algorithm which uses averages, and/or otherstatistical evaluations, of the data over a number of collected datapoints to determine the duty cycle at the target speed evaluationpoints. In at least one such instance, the control system uses theaverage of three consecutive duty cycle measurements, for example, todetermine the duty cycle value used for assessing the algorithmcriteria.

FIG. 83A depicts three graphs—a duty cycle graph (i), a firing forcegraph (ii), and a firing speed graph (iii) of the staple firing drive.The duty cycle graph (i), the firing force graph (ii), and the firingspeed graph (iii) are correlated to demonstrate a staple firing stroke.The duty cycle of the staple firing stroke jumps from below the lowerduty cycle threshold of 40% to above the upper duty cycle threshold of60% at about the 30 mm mark, which is about 15 mm into deforming thestaples. This jump in duty cycle was not because the firing forceincreased; rather the jump in duty cycle occurred because the controlsystem increased the duty cycle to increase the speed of the staplefiring drive in accordance with its target speed selection criteria.FIG. 83B depicts a similar jump in the duty cycle at about 20 mm;however, this jump in duty cycle occurred because the staple firingmember encountered an elevated resistance while deforming the staplesand the control system responded by increasing the length of the voltagepulses it was applying to the electric motor in order to maintain thestaple firing speed at its target speed. Stated another way, the controlsystem spiked the duty cycle because the control system was strugglingto maintain the intermediate speed, i.e., 12 mm/s, of the staple firingsystem. This situation did not last long as the control systemre-lowered the duty cycle at the 30 mm target speed check point whilelowering the speed of the staple firing stroke to its low, i.e., 6 mm/s,target speed.

FIGS. 84A and 84B depict graphs which demonstrate that the firing forceof the staple firing drive for stapling and cutting actual tissue tracksthat of the firing force for stapling and cutting a tissue analogue,such as foam, for example.

FIGS. 85A and 85B depict several staple firing stroke examples thatoccurred when stapling and cutting stomach tissue. The staple firingstrokes followed a very similar duty cycle pattern. For instance, all ofthe staple firing strokes started below the lower duty cycle thresholdand, in response, the control system increased the speed of the staplefiring stroke from the intermediate speed to the high speed. To do so,the control system increased the duration of the voltage pulses beingapplied to the electric motor of the staple drive system at a firstcheck point. In doing so, however, the duty cycle jumped above the upperduty cycle threshold and, at the next check point, the control systemshortened the voltage pulses to lower the duty cycle and slow the staplefiring stroke back to its intermediate speed. Notably, in one example,the speed of the staple firing drive was maintained at the high speed.In this example, the staples being deformed were smaller as compared tothe staples used during the other staple firing strokes and they dutycycle stayed just under the threshold.

FIG. 86A depicts the duty cycle of two staple firing strokes whilestapling thin jejunum tissue—one that occurred when the end effector wasarticulated and one that occurred when the end effector was notarticulated. As can be seen in FIG. 86A, the two duty cycle curves arevery similar and are, notably, between about 60% and about 80% of theduty cycle. FIG. 86B depicts the duty cycle of two staple firing strokeswhile stapling thick jejunum tissue—one that occurred when the endeffector was articulated and one that occurred when the end effector wasnot articulated. As can be seen in FIG. 86B, the two duty cycle curvesare very similar and are, notably, between about 60% and about 80% ofthe duty cycle. Also, notably, the duty cycle is somewhat higher for thethick jejunum tissue (FIG. 86B) as compared to the thin jejunum tissue(FIG. 86A). FIG. 86C depicts the duty cycle of two staple firing strokeswhile stapling stomach tissue—one that occurred when the end effectorwas articulated and one that occurred when the end effector was notarticulated. As can be seen in FIG. 86C, the two duty cycle curves arevery similar and, notably, reach the maximum duty cycle once the staplefiring drive starts deforming staples at about 15 mm from the proximal,unfired position of the firing member.

FIG. 87 comprises a graph 63000 depicting the duty cycle of a staplefiring stroke. As illustrated in the graph 63000, the duty cycle is justat or just below 40% for the first 30 mm of the staple firing stroke (15mm of the initial travel and 15 mm of staple firing) and is then raisedby the control system to increase the speed of the staple firing drive.Similar to the above, increasing the duty cycle in this instanceovershot the duty cycle above the top duty cycle threshold of 60% whereit remained for the rest of the staple firing stroke, i.e., the last 30mm.

FIG. 88 comprises a graph 64000 depicting the duty cycle of a staplefiring stroke. As illustrated in the graph 64000, the duty cycle beginsbelow the 40% duty cycle threshold but then gradually increases into thezone between the upper and lower duty cycle thresholds. In such a zone,the control system does not increase or decrease the speed of the staplefiring system and/or otherwise adjust the duty cycle of the firing driveelectric motor other than to maintain the speed of the staple firingsystem at the intermediate target speed. As such, a smooth duty cyclecurve is seen without abrupt changes.

FIG. 89 comprises a graph 65000 depicting the duty cycle of a staplefiring stroke. As illustrated in the graph 65000, the duty cycle beginsat about the 40% lower duty cycle threshold and then proceeds upwardlyquickly once the firing member starts deforming staples at the 15 mmpoint. In fact, the duty cycle increases to almost 100% until the nextcheck point is reached at 30 mm where, as described above, the controlsystem lowered the duty cycle to slow the staple firing drive. FIG. 89depicts a drastic drop in the duty cycle at this point but returns to anelevated state just above the upper duty cycle threshold for theremainder of the staple firing stroke.

The lower duty cycle threshold is described as being 40% in manyinstances, and 45% in other instances. That said, the lower duty cyclethreshold can be any suitable value, such as 30%, 33%, 35%, or 50%, forexample. Similarly, the upper duty cycle threshold is described as being60%. That said, the upper duty cycle threshold can be any suitablevalue, such as 50%, 55%, 65%, 67%, 70%, or 75%, for example.

As mentioned above, the staple firing stroke stops when the clinicianreleases the firing trigger. When the clinician actuates the firingtrigger once again, the staple firing stroke resumes. In such instances,the control system returns the speed of the staple firing stroke to thespeed just before the staple firing stroke was stopped. The controlsystem comprises one or more memory devices for storing the speed of thestaple firing stroke during the staple firing stroke such that thecontrol system can access the stored speed to re-start the staple firingstroke. If the control system does not have access to this data, thecontrol system can re-start the staple firing stroke in its intermediatespeed, for example.

As described herein, the surgical instrument 10000 is configured toevaluate the speed of the staple firing stroke and compare the measuredspeed of the staple firing stroke to a target speed. The surgicalinstrument 10000 comprises an encoder in communication with the controlsystem which is configured to measure the speed of the staple firingstroke. In at least one instance, a gear in the staple firing drive isobserved by the encoder to evaluate the speed of the staple firingstroke. The gear comprises teeth which pass in front of the encoder asthe gear is rotated during the staple firing stroke. The rate in whichthe teeth pass the encoder is used by the control system to assess thespeed of the staple firing drive. In at least one instance, the gearmakes one full rotation during the entire staple firing stroke. Inaddition to or in lieu of the above, the gear is comprised of metal andthe control system comprises a Hall Effect sensor configured to sensethe rate in which the metal gear teeth pass by the Hall Effect sensor.In various embodiments, the control system is configured to evaluate thespeed of a translating component of the staple firing drive.

As described herein, an algorithm of a control system uses the dutycycle of the firing drive electric motor to assess whether the speed ofthe staple firing drive should be adapted, and in which direction, i.e.,slower or faster. Various other algorithms use data in addition to theduty cycle of the firing drive electric motor to adapt the speed of thestaple firing stroke. For instance, a speed adaptation algorithm canutilize the articulation angle of the end effector, the initial batteryvoltage, the operative battery voltage, the current through the motor,PID error, and/or any characterization of the PWM circuit made duringthe manufacturing process of the surgical instrument, for example. Theseparameters, among others, can be used in a mathematical operation, orevaluation equation, to determine whether or not to adapt the speed ofthe staple firing stroke, the direction in which the speed is to beadapted, and/or the amount of the adaptation. The parameters used can beinstantaneous measurements and/or measurements averaged over severalreadings. The parameters used can include the rate of change, or changein slope, of the measurements. The values of the parameters can beadded, subtracted, multiplied, and/or divided according to theevaluation equation.

FIGS. 68-71 depict an end effector 40000 comprising an anvil jaw 40420and a cartridge jaw 10410. The anvil jaw 40420 comprises a proximalportion 40100 and a distal portion, or tip, 40200 attached to theproximal portion 40100. The distal portion 40200 is rotatable between afirst operational orientation (FIG. 68 ) and a second operationalorientation (FIG. 70 and FIG. 71 ) to provide a clinician with theability to choose between a straight anvil tip and an angled anvil tipbefore using the end effector 40000.

The proximal portion 40100 comprises an angled distal end that can becharacterized by a first angle 40120 and a second angle 40130. The firstangle 40120 is measured with reference to a top plane defined by the topof the proximal portion 40100 while the second angle 40130 is measuredwith reference to a bottom plane defined by the bottom of the proximalportion 40100. In various instances, the first angle 40120 and thesecond angle 40130 are supplementary angles. In at least one instance,the first angle 40120 and the second angle 40130 are substantiallysupplementary. The distal portion 40200 comprises an angled proximal endwhich is attached to the distal end of the proximal portion 40100. Theangled proximal end of the distal portion 40200 can be characterized bya first angle 40220 and a second angle 40230. In various instances, thefirst angle 40220 and the second angle 40230 are supplementary angles.In at least one instance, the first angle 40220 and the second angle40230 are substantially supplementary. In various instances, the firstangle 40120 and the first angle 40220 are supplementary angles and thesecond angle 40130 and the second angle 40230 are supplementary angles.This configuration permits the proximal portion 40100 and the distalportion 40200 of the anvil jaw 40420 to have a complimentary, angledattachment plane where a distal face 40110 of the proximal portion 40100and a proximal face 40210 of the distal portion 40200 abut each other inboth the first orientation and the second orientation.

Utilizing an attachment mechanism, referring to FIGS. 69 and 69A, thedistal portion 40200 is rotatable relative to the proximal portion 40100such that the distal portion 40200 can be rotated into differentorientations. To move the distal portion 40200 into the secondorientation shown in FIG. 70 , the distal portion 40200 is rotated 180degrees from the first orientation show in FIG. 68 . This configurationallows a user to change the anvil jaw 40420 between a straight-tippedanvil jaw and an angle-tipped anvil jaw. In the second orientation shownin FIGS. 70 and 71 , the first angle 40120 and the second angle 40230abut each other and, correspondingly, the first angle 40220 and thesecond angle 40130 abut each other. The angles at the attachmentinterface in the second orientation (FIG. 70 ) are not supplementary asthey were in the first orientation (FIG. 68 ).

The attachment mechanism used can be any suitable attachment mechanism.In at least one instance, referring to FIG. 69A, the attachmentmechanism comprises a flexible rotatable pin 40300 anchored to theproximal portion 40100 and the distal portion 40200. Such a mechanismallows rotation of the rotatable portion between different orientationswhile keeping the proximal portion 40100 and the distal portion 40200attached to each other. One or more spring members and/or detents may beused in conjunction with the pin to hold the portions in either thefirst operational orientation or the second operational orientation. Theattachment mechanism may be embedded in either the proximal portion40100 and/or the distal portion 40200. The attachment mechanism maycomprise a bi-stable compliance mechanism configured to bias the portion40200 into either orientation to prevent the inadvertent partialrotation of the rotatable distal portion 40200. The attachment mechanismmay comprise spring-loaded detents, a living hinge, sliding members,and/or various other locking members. The attachment mechanisms may alsocomprise interference and/or friction-fit interfaces between theproximal portion 40100 and the distal portion 40200.

Further to the above, and referring again to FIG. 69A, the flexible pin40300 comprises a spherical first end 40310 mounted in a chamber definedin the proximal anvil portion 40100, a spherical second end 40320mounted in a chamber defined in the distal anvil portion 40200, and aflexible connector 40330 connecting the first end 40310 and the secondend 40320. The spherical first end 40310 and the spherical second end40320 can rotate within their respective chambers such that the flexiblepin 40300 can rotate relative to the proximal portion 40100 and/or suchthat the distal portion 40200 can rotate relative to the flexible pin40300. In either event, such relative rotation permits the rotation ofthe distal portion 40200 as described above. The length of the flexibleconnector 40330 is selected such that the flexible connector 40300 is ina resiliently stretched state for every orientation of the distalportion 40200. As a result, the flexible connector 40330 acts to pullthe distal portion 40200 against the first anvil portion 40100. Giventhat the proximal portion 40100 includes the staple forming pockets andthe distal portion 40200 does not comprise staple forming pockets, theretention force provided by the pin 40300 does not need to withstandstaple forming forces and is sufficient to hold the distal portion 40200in place while the end effector 40000 is being positioned in thepatient. The pin can be spring loaded in the socket such that the springpulls the head proximally in the chamber thus holding the proximalportion 40100 and the distal portion 40200 together. To rotate thedistal portion 40200 between orientations, the distal portion 40200 canbe pulled distally to overcome the biasing force, twisted into anotherorientation, and released so that the spring may pull the distal portion40200 against the proximal portion 40100. The interface between thedistal portion 40200 and the proximal portion may further compriseinterlocking features extending therefrom to prevent inadvertentmovement relative to each other. For example, teeth may extend from oneportion and into corresponding slots defined in the other portion whenthe distal portion 40200 is in its first and second orientations, butnot when the distal portion 40200 is pulled away from the proximalportion 40100.

In at least one instance, the distal portion 40200 comprises two halves,for example, which are assembled around the attachment mechanism. Thetwo halves may utilize an elastomer to hold the halves together aroundthe pin, for example. In at least one instance, a snap-fit mechanism canbe used to assemble the two halves together around the attachmentmechanism.

In various instances, the proximal portion 40100 and the distal portion40200 are comprised of one or more materials. For example, the proximalportion 40100 may be comprised of one or more materials and the distalportion 40200 may be comprised of one or more materials. In at least oneinstance, the distal portion 40200 is comprised of metal toward theattachment interface and is comprised of an over-molded soft tipextending distally from the metal portion. The soft tip may be comprisedof rubber and/or plastic, for example. The anvil jaw 40410 may furthercomprise an intermediate component positioned between the proximalportion 40100 and the distal portion 40200. The intermediate componentcan house one or more parts of the attachment mechanism. Theintermediate component may also provide an atheistically pleasing and/orfunctional transition piece between the proximal portion 40100 and thedistal portion 40200 which may be useful in a scenario where theproximal portion 40100 and the distal portion 40200 comprise more thanone material.

In at least one instance, the first portion 40100 and the second portion40200 comprise edges designed to eliminate any sharp edges presented byrotation of the second portion 40200 relative to the first portion40100.

As discussed above, the surgical instruments disclosed herein maycomprise control systems. Each of the control systems can comprise acircuit board having one or more processors and/or memory devices. Amongother things, the control systems are configured to store sensor data,for example. They are also configured to store data which identifies thetype of staple cartridge attached to a stapling instrument, for example.More specifically, the type of staple cartridge can be identified whenattached to the stapling instrument by the sensors and the sensor datacan be stored in the control system. This information can be obtained bythe control system to assess whether or not the staple cartridge issuitable for use.

A surgical instrument 110000 is illustrated in FIG. 90 . The surgicalinstrument 110000 comprises a handle 110100, a shaft 110200 extendingfrom the handle 110100, and an end effector 110400 rotatably connectedto the shaft 110200 about an articulation joint 110500. The surgicalinstrument 110000 is similar to the other surgical instruments disclosedherein and such similarities are not discussed herein for the sake ofbrevity. The shaft 110200 is fixedly attached to the handle 110100.Referring to FIGS. 91-93 , the handle 110100 comprises a handle frame110110 and the shaft 110200 comprises a shaft frame 110210. The handleframe 110110 comprises a distal portion 110115 which extends over andnests with a proximal portion 110215 of the shaft frame 110210. Theshaft frame 110210 comprises alignment projections 110216 extendingtherefrom which are closely received within apertures defined in thehandle frame 110110. Each of the projections 110216 comprises anaperture 110217 defined therethrough which is configured to receive aself-tapping screw 110116, for example. The self-tapping screws areconfigured to gain purchase into the handle frame 110115 and fixedlysecure the shaft 110200 to the handle 110100. In various instances,referring again to FIG. 90 , a force can be applied to the end effector110400 to dislodge a staple cartridge positioned therein withoutcreating relative movement between the shaft 110200 and the handle110100.

Further to the above, the surgical instrument 110100 comprises anarticulation drive which is actuatable to articulate the end effector110400 about an articulation axis AA, a closure drive including aclosure actuator 10140, described above, which is actuatable to move ajaw 110420 of the end effector 110400 toward a jaw 110410, and a staplefiring drive which is actuatable to fire the staples from the staplecartridge seated in the end effector 110400 during a staple firingstroke. The staple firing drive comprises an electric motor configuredto advance a firing member distally through the staple firing stroke andretract the firing member proximally back into its unfired position.Similar to other embodiments described herein, the articulation drive isselectively engageable with the staple firing drive. An articulationmember of the articulation drive is driveable by the staple firing drivewhen the articulation drive is engaged with the staple firing drive and,correspondingly, the articulation drive is not driveable by the staplefiring drive when the articulation drive is not engaged with the staplefiring drive. As described further below, the closure drive decouplesthe articulation drive from the staple firing drive when the closuredrive is sufficiently actuated.

Referring to FIGS. 94-96 , the handle 110100 comprises an articulationactuator 110160 which is actuatable to articulate the end effector110400. The articulation actuator 110160 comprises a rocker switch, forexample, including a rocker body 110163 which is rotatably mounted to acircuit board 110190 about a pivot 110162. The articulation actuator110160 further comprises a first contact 110168 mounted to the circuitboard 110190 which is moved from an open state to a closed state when afirst end 110164 of the rocker body 110163 is depressed. When the firstend 110164 is released, a biasing member in the first contact 110168returns the first contact back into its open state. The articulationactuator 110160 also comprises a second contact 110169 mounted to thecircuit board 110190 which is moved from an open state to a closed statewhen a second end 110165 of the rocker body 110163 is depressed. Whenthe second end 110165 is released, a biasing member in the secondcontact 110169 returns the second contact back into its open state. Thefirst contact 110168 and the second contact 110169 are in communicationwith a control system of the surgical instrument 110000. When thecontrol system detects that the first contact 110168 has been closed,the control system operates the electric motor of the staple firingsystem to articulate the end effector 110400 in a first direction.Correspondingly, the control system operates the electric motor of thestaple firing system to articulate the end effector 110400 in a seconddirection when the control system detects that the second contact 110169has been closed.

Further to the above, the rocker body 110163 comprises a first stand-off110166 that contacts the circuit board 110190 when the rocker body110163 is depressed in the first direction and limits the travel of therocker body 110163. Similarly, the rocker body 110163 comprises a secondstand-off 110167 that contacts the circuit board 110190 when the rockerbody 110163 is depressed in the second direction and limits the travelof the rocker body 110163. Such an arrangement prevents or reduces thepossibility of the articulation actuator 110160 from being damaged. Suchan arrangement can also be adapted to other actuators on the handle110100, such as an actuator 110170, for example. The actuator 110170comprises a switch in communication with the control system of thesurgical instrument 110100 which, when closed, causes the control systemto automatically re-center the end effector 110400 along a longitudinalaxis LA (FIG. 90 ) of the shaft 110200.

Further to the above, the shaft 110200 and the end effector 110400 arerotatable relative to the handle 110100 about the longitudinal axis LA.In use, a clinician can grasp a nozzle-shaped portion, or nozzle, 110220of the shaft 110200 to rotate the shaft 110200 about the longitudinalaxis. Similar to the above, referring to FIGS. 97-100 , a surgicalinstrument can comprise a handle 111100 and a shaft 111200 rotatablerelative to the handle 111100 about a longitudinal axis LA where therotation of the shaft 111200 relative to the handle 111100 can be sensedby a sensor, or switch, 111230. The switch 111230 is mounted to acircuit board 111190 and, similar to the above, the switch 111230 isswitched between a first, or open, state and a second, or closed, statewhen a cam 111225 of the nozzle 111220 comes into contact with theswitch 111230. As a result, the rotation of the shaft 111200 is dividedinto two ranges—a first range of orientations in which the switch 111230is in the first state and a second range of orientations in which theswitch 111230 is in the second state. The switch 111230 is incommunication with the control system of the surgical instrument 111000and, depending on the input provided by the switch 111230, the controlsystem controls the articulation of the end effector in a first responsestate and a second response state. In the second response state, theresponse of the articulation drive to the actuation of the articulationactuator 110160 is reversed, or flipped, as compared to the firstresponse state. As described above, such an arrangement provides a moreintuitive operation of the surgical instrument 111000 when the shaft111200 is in a flipped, or upside-down, orientation. See the controlsystem 111900 of FIG. 100 , for example. This control system can be usedin connection with any of the embodiments disclosed herein, such as thesurgical instrument 110000, for example.

In various embodiments, further to the above, the control system of thesurgical instrument 110000 becomes unresponsive to the articulationactuators 110160 and 110170 when the closure trigger 10140 is initiallyactuated to close the end effector 110400. Moreover, in suchembodiments, the initial actuation of the closure trigger 10140 causesthe articulation drive to decouple from the staple firing drive. Suchembodiments entirely avoid the possibility of the end effector 110400articulating while the end effector 110400 is clamped onto the tissue.That said, such embodiments require the clinician to estimate where thesecond jaw 110420 will contact the tissue when the second jaw 110420 iseventually closed after the end effector 110400 has been articulated. Ifthe clinician has already partially-closed the end effector 110400, insuch embodiments, the clinician must re-open the end effector 110400 tore-articulate the end effector 110400. In such embodiments, re-openingthe end effector 110400 re-engages the articulation drive with thestaple firing drive and the control system becomes responsive once againto the articulation actuators 110160 and 110170. In alternativeembodiments, the end effector 110400 of the surgical instrument 110000can be articulated while the end effector 110400 is in apartially-closed, or partially-clamped, configuration. Once the endeffector 110400 is closed more than the partially-closed configuration,in these embodiments, the articulation drive is decoupled from thestaple firing drive and the control system is no longer responsive tothe articulation controls 110160 and 110170 until the end effector110400 is re-opened or at least returned back to its partially-closedconfiguration.

Further to the above, the partially-closed configuration of the endeffector 110400 is a predefined, or predetermined, position of thesecond jaw 110420. In at least one such embodiment, referring to FIGS.101-103 , the surgical instrument 110100 comprises a closure lock 10146configured to releasably hold the closure actuator 10140 in thepre-defined, partially-closed position. When the closure actuator 10140is in this partially-closed position, the articulation drive is stillengaged with the staple firing drive and the control system isresponsive to the articulation controls 110160 and 110170. Statedanother way, the articulation drive is engaged with the staple firingdrive and the control system is responsive to the articulation controls110160 and 110170 when the closure actuator 10140 is in a positionbetween, and including, the open position and the pre-defined,partially-closed position. FIG. 102 illustrates a lock arm 10147 of theclosure lock 10146 seated in a notch, or recess, 10145 defined in a topportion 10144 of the closure actuator 10140. The lock arm 10147 engagesthe notch 10145 as the closure actuator 10140 is being closed, i.e.,when the closure actuator 10140 reaches the partially-closed positiondiscussed above. In various instances, the lock arm 10147 entering thenotch 10145 can make an audible click which can indicate to theclinician closing the closure actuator 10140 that any additional closureof the closure actuator 10140 will disable the articulation drive andcontrols. The lock arm 10147 entering into the notch 10145 can alsoprovide a tactile feedback to the clinician. At such point, theclinician is afforded an opportunity to observe the articulated positionof the end effector 110400 and the partially-closed configuration of theend effector 110400 while the closure actuator 10140 is held inposition. If the clinician is unsatisfied with the position of the endeffector 110400 in this instance, the clinician is afforded anopportunity to articulate the end effector 110400 once again using thearticulation controls 110160 and 110170 without having to re-open theend effector 110400. Closing the closure actuator 10140 beyond thisposition, however, decouples the articulation drive from the staplefiring drive and makes the control system unresponsive to thearticulation controls 110160 and 110170. In such instances, the lock arm10147 flexes out of engagement with the notch 10145 such that the topportion 10144 rotates past the lock arm 10147 until the closure actuator10140 reaches the end of its stroke. At such point, referring to FIG.103 , the lock arm 10147 unflexes and falls in behind the top portion10144 to releasably hold the closure actuator 10140 in its fully-closedposition. Applying a force to the closure actuator 10140 can flex thelock arm 10147 out of the way once again so as to return the closureactuator 10140 to its above-discussed partially-closed position and/orfully-open position. When the closure actuator 10140 is returned to thepartially-closed position, and/or anywhere in-between thepartially-closed position and the open position, the articulation driveis re-engaged with the staple firing drive and the control system isonce again responsive to the articulation controls 110160 and 110170.

A surgical instrument including a handle 112100 is illustrated in FIGS.104-106 which comprises a selectively actuatable closure actuator block.The handle 112100 comprises a closure actuator 112140 which, similar tothe closure actuator 10140, is rotated from a fully-open position (FIG.104 ) to a fully-clamped position (FIG. 106 ) to close the end effector110400. The closure actuator 112140 comprises a deployable block 112145rotatably mounted thereto which is rotatable between a stowed position(FIG. 104 ) to a deployed position (FIG. 105 ) which can support theclosure actuator 112140 in a partially-closed position. In thispartially-closed position of the closure actuator 112140, similar to theabove, the articulation drive is still operably engaged with the staplefiring drive and the control system is still responsive to thearticulation controls 110160 and 110170. At such point, the cliniciancan choose to deactivate the closure block 112145 and fully close theend effector 110400. Doing so, similar to the above, will decouple thearticulation drive from the staple firing drive and make the controlsystem non-responsive to the articulation controls 110160 and 110170.The clinician can decide whether or not to deploy the closure block112145. If the closure block 112145 is not deployed, the closureactuator 112140 will not be stopped in its predefined, partially-closedposition and the articulation drive will be deactivated as the endeffector 110400 is closed. When the closure actuator 10140 is returnedto the its partially-closed position, and/or anywhere in-between thepartially-closed position and the open position, the articulation driveis re-engaged with the staple firing drive and the control system isonce again responsive to the articulation controls 110160 and 110170.The control system comprises a sensor system configured to assesswhether the closure actuator 112140 is in its open position,partially-closed position, and/or fully-closed position.

Further to the above, automatic locks and/or deployable blocks can beused separately and/or together in various embodiments. Another exampleis illustrated in FIGS. 107 and 108 which includes a shaft 113200extending from a handle 110100. The shaft 113200 comprises a nozzle113220 which is used to rotate the shaft 113200 about a longitudinalaxis. The nozzle 113220 includes an actuator 113225 which is manuallydepressed by the clinician to block the closure drive in a state whichcorresponds to the above-discussed predefined, partially-closedposition.

When the closure actuator 10140 is closed, referring now to FIGS. 109and 110 , the closure actuator 10140 drives a closure drive 10600 toclose the second jaw 110420 of the end effector 110400. The closuredrive 10600 includes a carriage 110610 which is pushed distally by thetop portion 10144 of the closure actuator 10140 as the closure actuator10140 is moved into its closed position by the clinician. The closuredrive 10600 further includes a closure tube assembly 10240 mounted tothe carriage 110610 which moves distally with the carriage 110610. Theclosure tube assembly 10240 comprises a distal end which interfaces withthe second jaw 110420 and moves the second jaw 110420 downwardly towardthe first jaw 110410 as the closure tube assembly 10240 is advanceddistally. The closure drive 10600 also includes a spring 110620positioned intermediate the carriage 110610 and the shaft frame 110210which is resiliently compressed between the carriage 110610 and theshaft frame 110210 as the carriage 110610 is advanced distally duringthe closure stroke. After the closure stroke is completed, the spring110620 is held in its compressed state by the closure lock 10146 (FIG.102 ), discussed above, until the closure lock 10146 is overcome by anopening force provided by opening actuators 10180 a and 10180 b (FIG. 90) on the handle 110100. At such point, the compressed spring 110620pushes the carriage 110610 and the closure tube assembly 10240proximally to re-position the closure actuator 10140 in its unactuatedposition and to permit jaw opening springs 10446 (FIG. 147 ) in the endeffector 110400 to open the second jaw 110420.

In various alternative embodiments, further to the above, a closuredrive can include more than one spring that is compressed between theclosure carriage 110610 and the shaft frame 110210. Referring to FIG.111 , a closure drive can comprise a distal spring 110620′ and aproximal spring 110620″ in series with one another. The distal spring110620′ is stiffer than the proximal spring 110620″ such that theproximal spring 110620″ is compressed significantly before the distalspring 110620′ compresses significantly. As a result, the initialmovement of the closure actuator 10140 from its fully-open position willencounter a light force owing to the compression of the proximal spring110620″ that suddenly increases once the distal spring 110620′ begins tocompress significantly. In at least one such instance, the proximalspring 110620″ reaches its fully-compressed, or solid, state before thedistal spring 110620′ begins to compress significantly. This suddenincrease in the force being applied to the closure actuator 10140 cancorrespond to the point in the closure stroke in which the articulationsystem has been deactivated. In such instances, the clinician isprovided with tactile feedback that the articulation system can nolonger be used to articulate the end effector 110400 unless the closureactuator 110400 is at least partially released, or re-opened, backbeyond the force transition point. A graphical representation of theforce applied to the closure actuator 10140 by the springs 110620′ and110620″ is depicted in FIG. 113 . The force applied to the closureactuator 10140 is depicted by line 110650 which includes an initialportion 110650 a and a final portion 110650 b. In the initial portion110650 a, as outlined above, the proximal spring 110620″ compresseseasily during the initial portion of the closing stroke resulting in alow force, around 100 N, being applied to the closure actuator 10140. Atthe half-way point in the closure stroke, for example, the force appliedto the closure actuator 10140 in the final portion 110650 b increasessignificantly owing to the solid state of the proximal spring 110620″and the higher spring rate of the distal spring 110620′. This forcetransition is demarcated as datum 110651 in FIG. 113 which alsodemarcates the deactivation of the articulation system.

Further to the above, FIG. 112A depicts the spring 110620, discussedabove, which has a constant spring rate along the length thereof. FIG.112C is a graphical representation of a spring system including thedistal spring 110620′ and the proximal spring 110620″ which havedifferent spring rates. In various instances, the effect provided by thedistal spring 110620′ and the proximal spring 110620″ can be combinedinto a single spring, such as spring 110620′″ in FIG. 112B, for example.In at least one embodiment, the spring 110620′″ comprises a spring ratewhich changes along the length thereof. In various embodiments, springspositioned intermediate the closure carriage 110610 and the shaft frame110210 can comprise a parallel and/or series arrangement. Regardless ofthe spring arrangement used, the spring arrangement can provide atactile feedback to the clinician that an operational transition orthreshold has been crossed.

Referring to FIG. 114 , the surgical instrument 110000 comprises avisual indicator which indicates that the articulation drive has beendecoupled from the staple firing drive and that the control system is nolonger responsive to the articulation controls 110160 and 110170. Therocker body 110163 of the articulation actuator 110160 is comprised of atranslucent material, such as a translucent plastic, for example. In atleast one embodiment, the rocker body 110163 is comprised of clearpolycarbonate, for example. The articulation actuator 110160 furthercomprises a light, such as a light emitting diode (LED), for example,positioned within and/or underneath the rocker body 110163. The light isin communication with the control system of the surgical instrument110000 and is illuminated by the control system when the articulationdrive is not engaged with the staple firing drive. In such instances,the clinician is provided with visual feedback that the articulationcontrol 110160 is no longer responsive to inputs. Similarly, thearticulation control 110170 comprises a button housing comprised of atranslucent material and a light in communication with the controlsystem. Similar to the articulation control 110160, the light of thearticulation control 110170 is illuminated by the control system whenthe articulation drive is not engaged with the staple firing drive. Invarious embodiments, the articulation actuator 110160 is not illuminatedwhen the closure actuator 10140 is in within a range of positionsbetween, and including, its fully-open position and a predeterminedpartially-closed position, discussed above. When the closure actuator10140 is closed beyond the predetermined partially-closed position, thearticulation actuator 110160 is illuminated—at least until the closureactuator 10140 is returned back into the predetermined partially-closedposition.

In various alternative embodiments, the light of the actuator 110160,and/or the actuator 110170, is illuminated with a first color, such asgreen, for example, when the articulation drive is engaged with thestaple firing drive and a second color, such as red, for example, whenthe articulation drive is not engaged with the staple firing drive. Inat least one such embodiment, the light in the articulation actuator110160 comprises a two-color LED, for example.

Referring to FIG. 115 , the surgical instrument 110000 can comprise avisual indicator which indicates that the articulation drive is engagedwith the staple firing drive and that the control system is responsiveto the articulation controls 110160 and 110170. The light in thearticulation control 110160 is in communication with the control systemof the surgical instrument 110000 and is illuminated by the controlsystem when the articulation drive is engaged with the staple firingdrive. In such instances, the clinician is provided with visual feedbackthat the articulation control 110160 is responsive to inputs. Similar tothe articulation control 110160, the light of the articulation control110170 is illuminated by the control system when the articulation driveis engaged with the staple firing drive. In various embodiments, thearticulation actuator 110160 is illuminated when the closure actuator10140 is in within a range of positions between, and including, itsfully-open position and a predetermined partially-closed position,discussed above. When the closure actuator 10140 is closed beyond thepredetermined partially-closed position, the articulation actuator110160 is deilluminated—at least until the closure actuator 10140 isreturned back into the predetermined partially-closed position. Furtherdetails are provided in the control system schematics 110900″ and110900′″ illustrated in FIGS. 116 and 117 , respectively.

As described above, the articulation drive of the surgical instrument110000 is selectively engageable with the staple firing drive. When thearticulation drive is engaged with the staple firing drive, thearticulation actuator 110160 is actuatable to operate the electric motorof the staple firing drive and translate an articulation member of thearticulation drive longitudinally. Referring to FIGS. 118-120 , thesurgical instrument 110000 further comprises an articulation lock system110260 including two sets of articulation locks 110280 which releasablyhold the articulation drive system (and end effector 110400) in positionwhen the articulation drive is not being driven by the electric motor,as described in greater detail below. As also described in greaterdetail below, the two sets of articulation locks 110280 self-unlock whenthe articulation drive is driven by the electric motor of the staplefiring drive.

Referring to FIG. 118 , the articulation drive of the surgicalinstrument 110000 comprises a proximal drive member 110250 which istranslated proximally and distally by the electric motor, depending onthe direction in which the articulation actuator 110160 is actuated.When the proximal drive member 110250 is driven distally, the proximaldrive member 110250 contacts a first set of articulation locks 110280which are shifted from a locked position to an unlocked position by thedistal movement of the proximal drive member 110250. The shifting of thefirst set of articulation locks 110280 shifts a second set ofarticulation locks 110280 into an unlocked position via a spring 10286(FIG. 73 ) positioned intermediate the first and second sets ofarticulation locks 110280. Thus, the distal motion of the proximal drivemember 110250 unlocks both sets of articulation locks 110280 and drivesboth sets of articulation locks 110280 distally. The articulation locks110280 are engaged with a distal articulation member 110270 which isdriven distally by the articulation locks 110280 when the articulationlocks 110280 are driven distally by the proximal articulation member110250. When the proximal drive member 110250 stops moving, the spring10286 biases the articulation locks 110280 back into their lockedpositions to re-lock the end effector 110400 in position. When theproximal member 110250 is driven proximally, the proximal drive member110250 contacts the second set of articulation locks 110280, shifts thefirst and second sets of articulation locks 110280 into their unlockedpositions, and drives the first and second sets of articulation locks110280 and the distal articulation member 112070 proximally. When theproximal drive member 110250 stops moving, similar to the above, thespring 10286 biases the articulation locks 110280 back into their lockedpositions to re-lock the end effector 110400 in position.

When the articulation locks 110280 are moved proximally and distally bythe proximal drive member 110250 of the articulation drive, as describedabove, the articulation locks 110280 slide along a lock rail 110282.Referring primarily to FIG. 120 , the lock rail 110282 extends throughapertures 110285 defined in the lock ends 110284 of the articulationlocks 110280. Notably, the lock rail 110282 comprises two flat locksurfaces 110282 a which are positioned on opposite sides and two arcuatelock surfaces 110282 b which are positioned on opposite sides. Eachaperture 110285 comprises opposing flat lock sides 110285 a which engagethe flat lock surfaces 110282 a of the lock rail 110282 when thearticulation locks 110280 are in their locked positions. In variousinstances, the flat lock sides 110285 a comprise edges which bite intothe lock rail 110282 when the articulation locks 110280 are in theirlocked positions. Such an arrangement strongly resists back-drivingforces transmitted into the articulation drive when a torque and/orforce is applied to the end effector 110400 which tends to articulate orde-articulate the end effector 110400. When the articulation locks110280 are shifted into the unlocked positions by the articulationdrive, as described above, the flat lock sides 110285 a of the apertures110285 can slide along the flat lock surfaces 110282 a of the lock rail110282 which permits the end effector 110400 to be articulated. Eachaperture 110285 further comprises opposing arcuate sides 110285 b whichslide along the arcuate lock surfaces 110282 b of the lock rail 110282.

In various instances, the surgical instrument 110000 can comprise one ormore position sensors which can be used to verify that the articulationdrive system is engaged with or disengaged from the staple firingsystem. In at least one such embodiment, the surgical instrument 110000comprises a Hall Effect sensor, for example, configured to assesswhether or not the articulation drive member is aligned with and/orengaged with the staple firing drive member. In addition to or in lieuof a position sensor, the surgical instrument 110000 can comprise aforce and/or force-related sensor configured to assess whether or notthe articulation drive system is engaged with the staple firing drivesystem. In at least one such embodiment, the control system of thesurgical instrument 110000 includes at least one strain gauge mounted onthe proximal articulation drive member 110250, for example, which isconfigured to detect the strain in the proximal articulation drivemember 110250. The strain loading in the articulation drive member110250 follows a predictable pattern when the articulation drive member110250 is advanced proximally or distally to unlock the articulationlock assembly 110260. For instance, a large force is needed to unlockthe articulation lock assembly 110260 which then decreases once the endeffector 110400 starts to articulate. In various instances, a processorof the surgical instrument control system is configured to compare thesensed strain loading data from the strain gauge to the expected straindata stored in a memory device of the control system. If the sensed datamatches, or sufficiently matches, the stored data within an acceptablemargin of error, the control system will determine that the articulationdrive is engaged with the staple firing drive and permit the surgicalinstrument 110000 to continue to respond the articulation controls110160 and 110170. The handle 110100 can also include an indicator lightin communication with the control system that is illuminated by thecontrol system when the control system determines that the articulationdrive is coupled to the staple firing drive. Such an indicator light canbe the articulation actuator 110160, the articulation actuator 110170,and/or an indicator light adjacent the articulation actuators 110160 and110170, for example.

If, however, the sensed data does not sufficiently match the storeddata, the control system will determine that the articulation drive isnot engaged with the staple firing drive and will not permit thesurgical instrument 110000 to continue to be responsive to thearticulation controls 110160 and 110170. When the articulation drive isnot engaged with the staple firing drive, the articulation drive memberis not driven by the electric motor and, thus, little, if any, strainwill be present in the articulation drive member 110250 which provides apattern that is clearly discernable from the above-described pattern.Similar to the above, the handle 110100 can also include an indicatorlight in communication with the control system that is illuminated bythe control system when the control system determines that thearticulation drive is not coupled to the staple firing drive. Such anindicator light can be part of the articulation actuator 110160, thearticulation actuator 110170, and/or an indicator light adjacent thearticulation actuators 110160 and 110170, for example.

Further to the above, the proximal articulation drive member 110250comprises an electrical circuit in communication with the at least onestrain sensor mounted to the proximal articulation drive member 110250.The electrical circuit comprises an electrical contact that travelswithin and is in contact with an elongate longitudinal electricalcontact in the handle 110100 which is, in turn, in communication withthe processor of the surgical instrument 110000. As a result of thisslideable electrical interface, the at least one strain sensor remainsin communication with the control system throughout the travel of theproximal articulation drive member 110250. Other contact arrangementscan be used. Moreover, other types of force sensors could be used, suchas force transducers, for example. Also, any suitable portion of thearticulation drive system could be used to assess whether thearticulation drive system is engaged with the staple firing system.

An articulation lock in accordance with at least one alternativeembodiment is illustrated in FIGS. 121 and 122 . The articulation lockcomprises a lock rail 110282′, a first set of articulation locks 110280a′, and a second set of articulation locks 110280 b′. Similar to thearticulation locks 110280, the articulation locks 110280 a′ and 110280b′ are shiftable between locked and unlocked positions when the proximalarticulation drive member 110250 is driven longitudinally. The lock rail110282′ comprises a first portion 110282 a′ which is gripped by thefirst articulation locks 110280 a′, a second portion 110282 b′ which isgripped by the second articulation locks 110280 b′, and a spring 110282c′ connecting the first portion 110282 a′ and the second portion 110282b′ of the lock rail 110282′. The flexibility of the spring 110282 c′creates a force reaction in the articulation drive system which isobservable and detectable by the control system to assess whether thearticulation driver is engaged with the staple firing drive. Moreover,each articulation lock 110280 a′ comprises a kick-out 110284 a′ and,similarly, each articulation lock 110280 b′ comprises a kick-out 110284b′. The kick-outs 110284 a′ are nested with one another and in contactone another. Similarly, the kick-outs 110284 b′ are nested with oneanother and in contact one another. The length L and radius R of thekick-outs 110284 a′ and 110284 b′ are designed to create an improvedlocking/unlocking force and/or displacement profile of the articulationlock which is observable and detectable by the control system to assesswhether the articulation driver is engaged with the staple firing drive.

A surgical instrument in accordance with at least one alternativeembodiment is illustrated in FIGS. 123-126 . The surgical instrumentcomprises a shaft 114200, an end effector 114400, an articulation driveconfigured to articulate the end effector 114400 about an articulationjoint, and an articulation lock 114280. The articulation drive comprisesa proximal articulation driver 114250, a distal articulation driver114270, and an articulation lock spring 114260 positioned intermediate adistal arm 114272 and a proximal arm 114274 of the distal articulationdriver 114270. When the articulation drive system is at rest, i.e., notbeing driven to articulate the end effector 114400, referring to FIG.123 , the articulation lock spring 114260 comprises a distal end 114262positioned against the distal arm 114272 of the distal articulationdriver 114270 and a proximal end 114264 engaged with the proximalarticulation driver 114250. In such instances, as illustrated in FIG.123 , the proximal end 114264 of the articulation lock spring 114260 isseated in a notch, or recess, 114255 defined in the proximalarticulation driver 114250. Moreover, in such instances, the lock spring114260 is in a locked condition in which it is engaged with a lock rail10282 of the shaft 114200. Referring primarily to FIG. 126 , the lockrail 10282 extends through an aperture in the lock spring 114260 and,when the lock spring 114260 is in its locked condition, the coils of thelock spring 114260 are tightly engaged, or gripped, with a circularouter surface of the lock rail 10282. As a result, a significant dragforce can be created which resists or prevents the articulation of theend effector 114400 when the end effector 114400 experiences aback-driving torque and/or force which tends to articulate orde-articulate the end effector 114400. In order to release the grip ofthe lock spring 114260 and unlock the articulation lock 114280, thediameter of the lock spring 114260 must be increased, as described ingreater detail below.

When the proximal articulation driver 114250 is advanced distally toarticulate the end effector 114400, referring to FIG. 124 , a proximalcam arm 114254 of the proximal articulation driver 114250 engages theproximal arm 114274 of the distal articulation driver 114270 to push thedistal articulation driver 114270 distally. The distal end of the distalarticulation driver 114270 is engaged with a frame 114410 of the endeffector 114400 such that the longitudinal translation of the distalarticulation driver 114270 rotates the end effector 114400. When theproximal articulation driver 114250 contacts the distal articulationdriver 114270, further to the above, the proximal end 114264 of thearticulation lock spring 114260 is unseated from the notch 114255 anddriven inwardly by the proximal articulation driver 114250. In suchinstances, the diameter of the articulation lock spring 114260 increasesto release its grip on the lock rail 10282 and permit the end effector114400 to be articulated by the articulation drive. When the distalmotion of the proximal articulation driver 114250 is stopped, thearticulation lock spring 114260 resiliently returns to its lockedcondition and re-grasps the lock rail 10282.

When the proximal articulation driver 114250 is moved proximally toarticulate the end effector 114400 in an opposite direction, referringto FIG. 125 , a distal cam arm 114252 of the proximal articulationdriver 114250 engages the distal arm 114272 of the distal articulationdriver 114270 to pull the distal articulation driver 114270 proximally.In such instances, further to the above, the proximal end 114264 of thearticulation lock spring 114260 is unseated from the notch 114255 anddriven inwardly by the proximal articulation driver 114250. In suchinstances, the diameter of the articulation lock spring 114260 increasesto release its grip on the lock rail 10282 and permit the end effector114400 to be articulated by the articulation drive. When the proximalmotion of the proximal articulation driver 114250 is stopped, thearticulation lock spring 114260 resiliently returns to its lockedcondition and re-grasps the lock rail 10282.

As discussed above, the actuation of the closure drive of the surgicalinstrument 110000 deactivates the articulation drive system at somepoint during the closure stroke. As the closure drive reaches the end ofits closure stroke, the second jaw 110420 contacts the first jaw 110410in a manner which indicates to the clinician using the surgicalinstrument 110000 that the second jaw 110420 is reaching itsfully-clamped position. Referring to FIGS. 127-130 , the second jaw110420 is pivotably coupled to the first jaw 110410 and is rotatablebetween a fully-open position (FIG. 128 ) and a fully-clamped position(FIG. 127 ) during the closure stroke. When the second jaw 110420 is inits fully-open position (FIG. 128 ), the flanges, or tissue stops,110428 of the second jaw 110420 are not engaged with the first jaw110410. As the second jaw 110420 is closed, referring to FIG. 129 , thetissue stops 110428 come into contact with the outside walls 110418 ofthe first jaw 110410. The inside surfaces 110429 of the tissue stops areun-angled, or parallel to the closing motion of the second jaw 110420.Referring primarily to FIG. 130 , the outside surfaces 110419 of theoutside walls 110418 are angled inwardly, or non-parallel to the closingmotion of the second jaw 110420. Owing to this arrangement, aninterference between the tissue stops 110428 of the second jaw 110420and the outside walls 110418 of the first jaw 110410 is created duringthe closing motion of the second jaw 110420 and increases gradually asthe second jaw 110420 is moved into its fully-closed position. Thisincreasing interference between the jaws 110410 and 110420 creates anincreasing resistance force within the closure drive which istransmitted back through the closure tube 110240 into the closuretrigger 10140. The clinician pulling the closure trigger 10140 can feelthe increasing resistance force being transmitted through the closuretrigger 10140 and understand that the second jaw 10420 is reaching itsfully-closed position.

Referring primarily to FIG. 130 , each outside surface 110419 comprisesa top angled surface 110419 a, a second angled surface 110419 b, and afinal angled surface 110419 c, for example. The first jaw 110410comprises a channel 110412, which is configured to receive a staplecartridge therein, which comprises a top width defined between the topangled surfaces 110419 a. The top width of the channel 110412 isnarrower than an intermediate width defined between the intermediateangled surfaces 110419 b which is narrower than a final width definedbetween the final angled surfaces 110419 c. In addition to providing atactile feedback to the clinician, the above-described arrangementmaintains a proper lateral alignment between the first jaw 110410 andthe second jaw 110420.

As discussed above, the actuation of the closure drive 10600 of thesurgical instrument 110000 decouples the articulation drive from thestaple firing drive at some point during the closure stroke. Referringto FIGS. 131 and 132 , the surgical instrument 110000 comprises atransmission 110230 which is switched from a first state, orconfiguration, to a second state, or configuration when the closuredrive 10600 is closed. When the transmission 110230 is in its firststate, the proximal articulation driver 110250 is coupled to a firingmember of the staple firing drive. When the transmission 110230 is inits second state, the proximal articulation driver 110250 is disengagedfrom the firing member. During the closure stroke, a cam portion of theclosure drive 10600 contacts the transmission 110230 to rotate thetransmission 110230 from its first state into its second state. Thetransmission 110230 comprises a cam member 110232 mounted within arotatable collar 110234 which is contacted by the cam portion of theclosure drive during the closure stroke. The cam member 110232 iscomprised of a harder material than the cam portion of the closure drive10600. In various instances, the scratch hardness and/or indentationhardness of the cam member 110232 is higher than the cam portion of theclosure drive 10600. In at least one embodiment, the rotatable collar110234 is comprised of plastic and the cam member 110232 is comprised ofmetal, such as cast zinc, for example. In various alternativeembodiments, the cam portion of the closure drive 10600 is comprised ofmetal and the cam member 110232 of the transmission 110230 is comprisedof the same metal. In any event, the transmission 110230 furthercomprises a spring which is compressed when the collar 110234 is rotatedinto its second state. The compressed spring is configured to re-expandand bias the collar 110234 back into its first state when the closuredrive is retracted.

When the closure drive is advanced distally during the closure stroke,further to the above, the closure tube 110240 is advanced distally toengage and close the second jaw 110420 of the end effector 110400.Referring to FIGS. 133 and 134 , the frame 110210′ of the shaft 110220can comprise one or more sealing interfaces which are engaged by theclosure tube 110240 as it is advanced distally. The shaft frame 110210′is cylindrical, or at least substantially cylindrical, and comprises afirst sealing interface 110212 and a second sealing interface 110214.The first sealing interface 110212 comprises a ring, or ridge, extendingpartially around the shaft frame 110210′; however, the first sealinginterface 110212 could extend around the entire circumference of theshaft frame 110210′ in other embodiments. Similarly, the second sealinginterface 110214 comprises a ring, or ridge, extending partially aroundthe shaft frame 110210′; however, the second sealing interface 110214could extend around the entire circumference of the shaft frame 110210′in other embodiments. The first sealing interface 110212 and the secondsealing interface 110214 are comprised of plastic and are configured toresiliently deform when they are engaged by the closure tube 110240. Theresilient deformation of the interfaces 110212 provides a liquid-tightand/or gas-tight interface between the closure tube 110240 and the frame110210′ which can limit the ingress of fluids into the shaft 110200and/or handle 110100 of the surgical instrument 110000. In variousembodiments, the sealing interfaces 110212 and 110214 can be comprisedof any suitable material, such as rubber and/or silicone, for example.

Once the end effector 110400 has been sufficiently closed, further tothe above, the staple firing drive of the surgical instrument 110000 canbe actuated to fire the staples contained in the staple cartridge seatedin the end effector 110400 during a staple firing stroke. Referring toFIG. 148 , the staple firing drive comprises a firing member, or bar,110710 which is advanced distally by the electric motor of the staplefiring drive in response to an actuation of the firing trigger 10150(FIG. 91 ). The staple firing drive further comprises a coupling element110720 attached to the distal end of the firing bar 110710. In at leastone embodiment, the interface between the firing bar 110710 and thecoupling element 110720 comprises a dovetail arrangement, for example.The coupling element 110720 is moveable between a proximal unfiredposition, illustrated in FIG. 148 , and a distal fired position during astaple firing stroke. The coupling element 110720 comprises a cam 110724configured to engage the first jaw 110410 and a cam 110722 configured toengage the second jaw 110420 during the staple firing stroke and holdthe second jaw 110420. The cams 110722 and 110724 co-operate to hold thesecond jaw 110420 in position relative to the first jaw 110410 duringthe staple firing stroke, although embodiments are envisioned withoutthe cams 110722 and 110724. The coupling element 110720 furthercomprises a tissue cutting edge 110271 configured to transect the tissuecaptured between the first jaw 110410 and the second jaw 110420 duringthe staple firing stroke.

Further to the above, the surgical instrument 110000 comprises a staplefiring lockout to prevent the staple firing stroke when a staplecartridge is missing from the first jaw 110410 and/or when the staplecartridge seated in the first jaw 110410 has already been at leastpartially fired. To this end, the coupling element 110720 furthercomprises a proximally-extending tail 110729 which is biased downwardly,i.e., toward the bottom of the first jaw 110410, at the beginning of thestaple firing stroke by a firing lockout spring 110490 mounted in theshaft 110200. Prior to the beginning of the firing stroke, referring toFIG. 148 , the lockout spring 110490 is in an initially-unloaded state.In other words, the lockout spring 110490 does not apply any force tothe proximally-extending tail 110729 of the coupling element 110720 whenthe coupling element 110720 is in its unfired position. Once thecoupling element 110720 is advanced distally at the beginning of thestaple firing stroke, the tail 110729 comes into contact with thelockout spring 110490 such that the lockout spring 110490 applies adownward force to the coupling element 110720. As discussed below, thedownward force applied to the coupling element 110720 can, in variousinstances, lockout the staple firing drive and prevent the couplingelement 110720 from being moved distally through the staple firingstroke. Such a configuration can avoid a continuous, and unnecessary,stress experienced by a firing assembly over time by only applying alockout force to the firing assembly during the beginning of a firingstroke instead of applying a lockout force for an indefinite amount oftime prior to the beginning of the firing stroke.

If an unfired staple cartridge is not seated in the first jaw 110410 atthe beginning of the staple firing stroke, the firing lockout spring110490 will push the coupling element 110720 downwardly such that alaterally-extending lock shoulder 110727 extending from the couplingelement 110720 enters into a lock recess 10419 defined in the first jaw10410 and contacts a lock shoulder 10417 at the distal end of the lockrecess 10419 which blocks the distal advancement of the staple firingdrive to prevent the staple firing stroke. If an unfired staplecartridge is seated in the first jaw 110410 at the beginning of thestaple firing stroke, a distal end 110725 of the coupling element 110720is supported by a sled in the staple cartridge which prevents thecoupling element 110720 from being pushed into the lock recess 110419 bythe firing lockout spring 110490 and, as a result, the coupling element110720 can be advanced distally to perform the staple firing stroke. Asthe coupling element 110720 is being advanced distally through thestaple firing stroke, the tail 110729 is no longer in contact with thefiring lockout spring 110490 and, thus, the downward biasing force isnot applied to the staple firing drive through the staple firing stroke.When the coupling element 117020 is retracted proximally after thestaple firing stroke, the tail 110729 re-engages the lockout spring110490 and deflects the lockout spring 110490 upwardly such that thetail 110729 can slide under the lockout spring 110490 back into itsunfired position.

Further to the above, the firing lockout spring 110490 comprises aproximal portion 110492 mounted to the shaft 110200 and a distal end110494 which is free to move relative to the proximal portion 110492.The distal end 110494 comprises an arcuate portion 110499 which extendsover the proximal tail 110729 which is contacted by the proximal tail110729 when the staple firing drive is actuated. The firing lockoutspring 110490 further comprises lateral supports 110495 extendingtherefrom which supports the distal end 110494 over the proximal tail110729. The lateral supports 110495 are positioned within recesses110415 defined in the first jaw 110410 which hold the lateral supports110495 in position. As a result of this arrangement, the firing lockoutspring 110490 is prevented from bottoming out on the first jaw 110410and shortening the effective length of the firing lockout spring 110490.Moreover, as a result of this arrangement, the firing lockout spring110490 is able to flex and/or move upwardly to permit the couplingmember 110720 to pass thereby without yielding or permanently deformingthe firing lockout spring 110490. When the coupling member 110720 isreturned to its proximal unfired position after the staple firingstroke, the firing lockout spring 110490 is moved upwardly by thecoupling member 110720 to permit the coupling member tail 110729 to movethereunder.

Further to the above, referring to FIGS. 135-146 , an articulation jointof a surgical instrument described herein can be configured to supportthe firing bar 110710 of the staple firing drive during the staplefiring stroke. As discussed above, a surgical instrument can comprise ashaft 114200 and an end effector 114400 rotatably connected to the shaft114200 about an articulation joint. Referring primarily to FIG. 135 ,the shaft 114200 comprises a frame 114210 which includes a pivot pin114560 extending therefrom which is closely received in a pivot aperturedefined in a frame 114410 of the end effector 114400. The pivot pin114560 and the pivot aperture co-operate to define the articulation axisAA of the articulation joint. Similar to the above, referring primarilyto FIG. 136 , the end effector frame 114410 comprises an articulationdrive pin 14464 extending therefrom which is engaged with the distalarticulation driver 114270 and driven by the articulation drive systemto articulate the end effector 114400 relative to the shaft 114200.

Referring again to FIGS. 135 and 136 , the articulation joint furthercomprises a firing bar guide 114510 configured to slide relative to thepivot pin 114560 of the articulation joint. The firing bar guide 114510comprises a proximal end 114530 which includes a proximal control pinthat extends downwardly into a guide aperture 114215 defined in theshaft frame 114210. The proximal control pin is configured to movewithin the shaft guide aperture 114215 but its lateral and longitudinalmotion is constrained by the sidewalls of the shaft guide aperture114215. Similarly, the firing bar guide 114510 comprises a distal end114540 which includes a distal control pin that extends downwardly intoa guide aperture 114440 defined in the end effector frame 114410. Thedistal control pin is configured to move within the end effector guideaperture 114440 but its lateral and longitudinal motion is constrainedby the sidewalls of the end effector guide aperture 114440. The firingbar guide 114510 further comprises arcuate guide walls 114570 whichsupport the sides of the firing bar 110710 as the firing bar 110710slides relative thereto. The guide walls 114570 prevent the firing bar110710 from buckling, among other things.

Further to the above, the shaft 114200 further comprises a retainer114290 attached to the shaft frame 114210. The retainer 114290 furthercomprises a distal end including control surfaces 114295 defined thereonwhich are configured to constrain the rotation of the firing bar guide114510 within the articulation joint. When the end effector 114400 isarticulated to the left, as illustrated in FIG. 135 , a left shoulder114535 defined on the firing bar guide 114510 contacts the controlsurfaces 114295 on the retainer 114290. When the end effector isarticulated to the right, as illustrated in FIG. 137 , a right shoulder114535 defined on the firing bar guide 114510 contacts the controlsurfaces 114295 on the retainer 114290. Regardless of whether the firingbar guide 114510 is in its left-most orientation, its right-mostorientation, or anywhere in-between, the knife bar guide walls 114570are aligned with a knife bar guide slot 114270 defined in the shaft114200 and a knife bar guide slot 114470 defined in the end effector114400 to provide a continuous, or at least nearly continuous, supportedpath for the firing bar 110710 through the articulation joint.

Further to the above, the end effector frame 114410 comprises controlnotches 114445 defined therein which are configured to receivecorresponding distal projections 114545 extending from the distal end ofthe firing bar guide 114510. When the end effector 114400 isfully-articulated to the left, as illustrated in FIG. 135 , a leftdistal projection 114545 of the firing bar guide 114510 is captured in aleft control notch 114445. Simultaneously, the left shoulder 114535 ofthe firing bar guide 114510 is in contact with the left control surface114295 of the retainer 114290. In such instances, the firing bar guide114510 is held in place within the articulation joint. Moreover, in suchinstances, the firing bar guide 114510 can control the left-mostarticulation of the end effector 114400. When the end effector 114400 isfully-articulated to the right, as illustrated in FIG. 137 , a rightdistal projection 114545 of the firing bar guide 114510 is captured in aright control notch 114445. Simultaneously, the right shoulder 114535 ofthe firing bar guide 114510 is in contact with the right control surface114295 of the retainer 114290. In such instances, the firing bar guide114510 is held in place within the articulation joint. Moreover, in suchinstances, the firing bar guide 114510 can control the right-mostarticulation of the end effector 114400.

Referring to FIG. 140 , the shaft retainer 114290 comprises two lateralsides which are connected at the distal end thereof by a connector114299. Such an arrangement reduces, if not prevents, relative movementbetween the two lateral sides of the shaft retainer 114290. When theshaft retainer 114290 is assembled to the shaft frame 114210, referringto FIG. 141 , the connector 114299 of the shaft retainer 114290 extendsinto the shaft aperture 114215. Referring to FIGS. 142 and 143 , theproximal end 114530 of the firing bar guide 114510 comprises a recessedportion which is configured to slide under the shaft retainer 114290. Asa result, the shaft retainer 114290 retains the firing bar guide 114510from lifting upwardly. The firing bar guide 114510 further comprises alip 114539 extending proximally from the proximal end 114530 thereof. Asillustrated in FIG. 142 , the lip 14539 is configured to slide under theconnector 114299. As a result, similar to the above, the connector114299 of the shaft retainer 114290 retains the firing bar guide 114510from lifting upwardly.

Referring again to FIG. 135 , the firing bar guide 114510 compriseslateral wings 114520 extending therefrom. The lateral wings 114520 areconfigured to inhibit or prevent patient tissue from entering into thearticulation joint and becoming pinched between the shaft 114200 and theend effector 114400 when the end effector 114400 is articulated.

Referring to FIGS. 149 and 149A, the surgical instrument 110000comprises a power management system 110900 configured to control themanner in which the surgical instrument 110000 is powered up. The powermanagement system 110900 comprises a first voltage regulator 110910, asecond voltage regulator 110920, and a processor 110930 configured tocontrol the first voltage regulator 110910 and the second voltageregulator 110920. The power management system 110900 further comprises afirst component architecture 110940 of the surgical instrument 110000which is powered at a first voltage, a second component architecture110950 which is powered at a second voltage, and a third componentarchitecture 110960 which is powered at a third voltage. The firstcomponent architecture 110940 is supplied with the first voltage whenthe battery 10300 is assembled to the handle 110100 and/or when thesurgical instrument 110000 is powered on. In at least one embodiment,the first voltage is approximately 11 VDC, for example, and isimmediately supplied to the first component architecture 110940.

The first voltage regulator 110910 comprises a control input 110911which is in communication with the processor 110930, a supply input110912 in communication with the first component architecture 110940,and a supply output 110913 in communication with the second componentarchitecture 110950. The first voltage regulator 110910 comprises aTexas Instruments TPS561208 step-down voltage regulator, for example,which is switchable from an off condition to an on condition when avoltage exceeding a threshold voltage, such as 1.6 VDC, for example, isapplied to the control input 110911 by the processor 110930. When thefirst voltage regulator 110910 is in its off condition, the secondcomponent architecture 110950 is unpowered. When the first voltageregulator 110910 is in its on condition, the second componentarchitecture 110950 is supplied with a second voltage of 5.4 VDC, forexample, from the supply output 110913 of the first voltage regulator110910. In such instances, certain components and/or systems of thesurgical instrument 110100 are, as a result, supplied with power at thesecond voltage.

The second voltage regulator 110920 comprises a control input 110921which is in communication with the processor 110930, a supply input110922 in communication with the second component architecture 110950,and a supply output 110923 in communication with the third componentarchitecture 110960. The second voltage regulator 110920 comprises aTexas Instruments TLV741 P low-dropout linear voltage regulator, forexample, which is switchable from an off condition to an on conditionwhen a voltage exceeding a threshold voltage is applied to the controlinput 110921 by the processor 110930. When the second voltage regulator110920 is in its off condition, the third component architecture 110960is unpowered. When the second voltage regulator 110920 is in its oncondition, the third component architecture 110960 is supplied with avoltage of 3.3 VDC, for example, from the supply output 110923 of thesecond voltage regulator 110920. In such instances, certain componentsand/or systems of the surgical instrument 110100 are, as a result,supplied with power at the third voltage.

Further to the above, the processor 110930 is configured to sequentiallystage, or stagger, the power-up of the first component architecture110940, the second component architecture 110950, and the thirdcomponent architecture 110960. As discussed above, the first componentarchitecture 110940 is immediately powered when the surgical instrument110000 is powered on. At such point, however, the processor does notsupply the first voltage regulator 110910 and the second voltageregulator 110920 with an enabling voltage to their control inputs 110911and 110921, respectively, and, as a result, the second componentarchitecture 110950 and the third component architecture 110960 areunpowered. Instead, the processor 110930 is configured to wait a firstperiod of time before supplying the enabling voltage to the controlinput 110911 of the first voltage regulator 110910 and then wait asecond period of time before supplying the enabling voltage to thecontrol input 110921 of the second voltage regulator 110920. As aresult, the second component architecture 110950 is powered up beforethe third component architecture 110960. Such an arrangement can preventa fuse in the power management system 110900 from being overpowered, orblown. The first period of time and the second period of time cancomprise fixed times determined by a timer circuit, for example. In atleast one alternative embodiment, a first timer circuit can be used todelay the power-up of the first voltage regulator 110910 and a secondtimer circuit can be used to delay the power-up of the second voltageregulator 110920 in lieu of a processor. In certain embodiments, theprocessor and/or a separate circuit can be configured to monitor spikesin the current supplied to the surgical instrument 110000 from thebattery 10300 and wait until the spike has sufficiently abated beforepowering up the next component architecture in the power-up sequence.

Referring to FIG. 150 , the handle 110100 of the surgical instrument110000, comprises a retraction system 110800 that can be used by theclinician to manually retract the staple firing system in the event thatthe electric motor is unable to retract the firing bar 110710 after thestaple firing stroke. As can be seen in FIG. 150 , the retraction system10800 comprises an actuator which is stowed in a cavity 110102 definedin the handle 110100. The handle 110100 comprises two housing halvesthat are assembled, or snap-fit, together to form an outer housing110101 of the handle 110100 and, in addition, referring to FIG. 151 , acover 110190 that is releasably secured to the outer housing 110101. Thecover 110190 comprises a lip 110192 which extends under the outerhousing 110101 and a latch 110194 which releasably secures the cover110190 to the outer housing 110101. When the staple firing system isfunctioning properly, the cover 110190 is typically attached to theouter housing 110101 and the actuator of the retraction system 10800 ishidden under the cover 110190. When the clinician wants to use themanual retraction system, the clinician removes the cover 110190, raisesthe retraction system actuator, and then ratchets the retraction systemactuator back and forth to retract the firing bar 110710.

Further to the above, the cover 110190 further comprises a detectableelement 110196, such as a magnetic element comprised of iron and/ornickel, for example. The surgical instrument 110000 comprises a positionsensor, such as a Hall Effect sensor, for example, in communication withthe control system 110900 which is configured to detect the presence ofthe detectable element 110196. If the control system 110900 determinesthat the cover 110190 is attached to the outer housing 110101 based ondata from the Hall Effect sensor, the control system 110900 isconfigured to supply battery power to the first component architecture110940, and the component architectures 101950 and 101960, as describedabove. If, however, the control system determines that the cover 110190is not attached to the housing 110101 based on data from the Hall Effectsensor, the control system 110900 is configured to deny power to theelectric motor of the staple firing drive while the retraction system110800 is being operated. In various instances, the control system110900 can comprise a sensor configured to detect when the firing bar110170 has been sufficiently retracted and, at that point, make poweravailable to the electric motor once again so that the end effector110400 can be articulated, as described above, using the electric motorif it is possible to do so. Reattaching the cover 110190 to the housing110101 will also cause the control system 110900 to make power availableto the electric motor once again.

A cover analog 110190′ is illustrated in FIG. 152 . The cover analog110190′ is similar to the cover 110190 in every respect except one,i.e., the cover analog 110190′ comprises an additional detectableelement 110198′ that can be used during the manufacturing process toactivate certain functions of the surgical instrument 110000 that arenot available during the ordinary use of the surgical instrument 110000in a surgical suite and/or during a surgery. Referring to FIG. 153 , acontrol system circuit 110900′ includes a Hall Effect sensor 110970′which is configured to detect the presence of the detectable element110198′. Like the detectable element 110196, the detectable element110198′ can be a magnetic element comprised of iron and/or nickel, forexample. If the control system circuit 110900′ determines that the coveranalog 110190′ is attached to the outer housing 110101 based on datafrom the Hall Effect sensor 110970′, the control system circuit 110900′is configured to power up a radio antenna circuit 110980′ of the controlsystem circuit 110900′ which is used to receive data, or programming,during the manufacturing process. After the surgical instrument 110000has been sufficiently programmed during the manufacturing process, thecover analog 110190′ is removed from the handle 110100 and the cover110190 is attached to the handle 110100 in its place. At such point, thecontrol system circuit 110900′ will determine that the cover analog110190′ is no longer attached to the handle 110100 and depower the radioantenna circuit 110980′. The surgical instrument 110000, at this point,is ready to be used during surgery. If the surgical instrument 110000needs to be re-programmed, the cover 110190 is removed and replaced withthe cover analog 110190′ to reactivate the radio antenna circuit110980′. The frequency of the wireless signals can comprise any suitablefrequency. Moreover, an optical receiver can be used to receive opticalsignals in addition to or in lieu of a radio antenna. The opticalreceiver could be powered in the same way as described above.

A surgical instrument 120000 is illustrated in FIGS. 154-183 and issimilar to the other surgical instruments disclosed herein. The surgicalinstrument 120000 comprises a handle 120100, a shaft 120200 extendingfrom the handle 120100, and an end effector 110400 rotatably coupled tothe shaft 120200 about an articulation joint 120500. The handle 120100comprises a frame, an outer housing 120110, and controls for operatingthe surgical instrument. Further to the above, referring to FIGS.176-179 , the handle 120100 comprises a drive system 120900 including anelectric motor 120910 that is actuatable to articulate the end effector120500, among other things. The drive system 120900 further comprises apinion gear 120920 affixed to the output shaft of the electric motor120910 and a gear train including a transfer gear 120930 operablyintermeshed with the pinion gear 120920. The transfer gear 120930 isrotatably supported by a shaft 120935 and is in meshing engagement witha firing rack 120150. As discussed in greater detail below, the transfergear 120930 is also slideable along the shaft 120935 such that thetransfer gear 120930 can be operably disengaged from the firing rack120150 when, or if, a retraction, or bailout, system 120990 is actuatedto manually retract the firing rack 120150. When the electric motor120910 is operated in a first direction, the firing rack 120150 istranslated distally. Correspondingly, the firing rack 120150 istranslated proximally when the electric motor 120990 is rotated in asecond, or opposite, direction. Referring to FIGS. 157, 158, and 175 ,the firing drive 120190 further comprises a firing rod 120160 mounted tothe firing rack 120150 such that the firing rod 120160 translates withthe firing rack 120150. The firing drive 120190 also comprises a firingbar 110710 coupled to the firing rod 120160. Referring to FIG. 162 , thefiring bar 110710 comprises a plurality of flexible members, orlaminates, 110711 that extend through the articulation joint 120500which accommodate the articulation of the end effector 110400. Asdiscussed further below, the firing drive 120900 is operable toarticulate the end effector 110400 and, in a separate operating mode,drive the firing bar 110710 distally to perform a staple firing stroke.

When the firing drive 120900 is in its articulation mode, referring toFIG. 172 , the firing rod 120160 is operably connected to anarticulation drive system via a clutch 110290. The clutch 110290comprises an aperture 110295 defined therein through which the firingrod 120160 extends. The clutch 110290 further comprises a clutchshoulder 110294 which is engaged with a drive notch 120164 (FIG. 174 )defined in the firing rod 120160 when the clutch 110290 is in itsarticulation mode position (FIG. 172 ). In addition, the clutch shoulder110294 is also engaged with a drive notch 110254 defined in anarticulation driver 110250 of the articulation drive system when theclutch 110290 is in its articulation mode position (FIG. 172 ). Thus,the articulation drive system is coupled with the firing rod 120160 suchthat the articulation driver 110250 and the firing rod 120160 translatetogether when the clutch 110290 is in its articulation mode position(FIG. 172 ). In such instances, the articulation driver 110250 isdriveable distally by the firing rod 120160 to articulate the endeffector 110400 in a first direction (FIG. 164 ), such as to the rightof the shaft 120200, and driveable proximally by the firing rod 120160to articulate the end effector in a second, or opposite, direction, suchas to the left of the shaft 120200 (FIG. 165 ). In various embodiments,referring to FIG. 164 , the end effector 110400 is articulatable up toat least 60 degrees to the right of an unarticulated position (FIG. 163) and up to at least 60 degrees to the left of the unarticulatedposition, for example. In other embodiments, referring to FIG. 165 , theend effector 110400 is articulatable up to at least 65 degrees to theright of an unarticulated position (FIG. 163 ) and up to at least 65degrees to the left of the unarticulated position, for example.

Notably, further to the above, the proximal and distal translation ofthe firing rod 120160 during the articulation mode is not transmitted tothe firing bar 110710. More specifically, referring again to FIG. 175 ,the firing bar 110710 comprises a proximal drive tab 110715 which ispositioned within an elongate longitudinal slot 120165 defined in thedistal end of the firing rod 120160. The longitudinal slot 120165 issufficiently long enough such that the end walls 120161 of thelongitudinal slot 120165 do not contact the drive tab 110715 when theend effector 110400 is being articulated. Stated another way, in variousembodiments, the length of the longitudinal slot 120165 is equal to orlonger than the maximum range that the firing rod 120160 is translatedin the articulation mode. In any event, a clinician can articulate theend effector 110400 in the first direction and/or the second directionby the controls on the handle 120100 until they are satisfied with theposition of the end effector 110400 relative to the patient tissue. Atsuch point, the clinician can clamp the end effector 110400 onto thepatient tissue, as described further below.

Further to the above, the articulation drive system of the surgicalinstrument 120000 is self-locking. More specifically, referring to FIGS.166-168 , the articulation drive system comprises a lock system 110260,described above, which holds the end effector 110400 in position whenthe end effector 110400 is not being articulated. The lock system 110260comprises lock elements, or plates, 110280—each of which comprises alock end 110284 including an aperture defined therein—and a lock rail110282 extending through the apertures in the lock elements 110280. Thelock system 110260 further comprises a biasing spring 110286 positionedintermediate and compressed between a first group of lock elements110280 and a second group of lock elements 110280. The biasing spring110286 comprises a coil spring having a central opening defined thereinwhich is also positioned around the lock rail 110282, but could compriseany suitable configuration. When the end effector 110400 is not beingarticulated, the spring 110286 of the lock system 110260 pushes, orrotates, the lock elements 110280 into a position, or orientation, inwhich a sidewall of the apertures defined in the lock elements 110280bite into the lock rail 110282. In such instances, the lock system110260 resists forces or torques being applied to the end effector110400 which tend to unintentionally rotate the end effector 110400about the articulation joint 120500. When the drive system 120900 isoperated to articulate the end effector 110400, the initial translationof the articulation driver 110250 rotates the lock elements 110280 intoan unlocked position, or orientation, which, as a result, unlocks thelock system 110260. In such instances, the drive system 120900 overcomesthe biasing force being applied to the lock elements 110280 andcompresses the biasing spring 110286. Once the lock system 110260 isunlocked, the continued translation of the articulation driver 110250articulates the end effector 110400. Once the movement of thearticulation driver 110250 stops, however, the biasing spring 110286resiliently re-expands to push the lock elements 110280 back into theirlocked orientation and automatically re-lock the articulation drive inits new position. When the articulation driver 110250 is translated bythe firing drive 120900 once again, the lock system 110260 is unlockedand the above-described process is repeated.

Further to the above, the end effector 110400 comprises a cartridge jaw110410 and an anvil jaw 110420 rotatable relative to the cartridge jaw110410 between an open position and a closed position. The surgicalinstrument 120000 further comprises a closure drive that is actuated bya closure trigger 10140 to move the anvil jaw 110420 into its closedposition. More specifically, the closure trigger 10140 comprises a crankthat pushes a closure tube 120240 of the shaft 120200 distally whichcontacts the anvil jaw 110420 and pushes the anvil jaw 110420 into itsclosed position. In alternative embodiments, the actuation of theclosure trigger 10140 can operate an electric motor which drives theclosure tube 120240. That said, embodiments having a mechanical couplingbetween the closure trigger 10140 and the closure tube 120240 providesthe clinician with a feel of the clamping force being applied to thepatient tissue while, on the other hand, a motor-driven system canassist the clinician with overcoming high clamping loads. In eitherevent, the closure tube 120240 extends across the articulation joint120500 and comprises a joint arrangement which accommodates thearticulation of the end effector 110400 about the articulation joint120500. Referring to FIGS. 158 and 159 , the closure tube 120240includes a proximal portion 120242 engaged with a closure carriageslideable within the handle 120100, a distal portion 120244 positionedon a distal side of the articulation joint 120500, and links 120243rotatably connecting the distal portion 120244 to the proximal portion120242. The links 120243 extend across and are generally aligned withthe articulation joint 120500 which permit the closure tube 120240 toslide distally regardless of the articulated orientation of the endeffector 110400.

Further to the above, the closure drive switches the drive system 120900of the surgical instrument 120000 from its articulation mode to itsstaple firing mode when the end effector 110400 is closed by the closuredrive. More specifically, referring to FIGS. 169-174, the surgicalinstrument 120000 comprises a clutch assembly which is rotated from anarticulation mode position (FIG. 169 ) to a staple firing mode position(FIG. 170 ) when the closure tube 120240 is advanced distally to closethe end effector 110400. Referring primarily to FIG. 170 , the clutchassembly comprises the clutch 110290, discussed above, a clutch cam110232, and a clutch collar 110234. Further to the above, referringprimarily to FIGS. 172-174 , the clutch cam 110232 is slideably engagedwith the clutch 110290 and, referring primarily to FIG. 170 , extendsoutwardly through a window 120245 defined in the closure tube 120240.Referring again to FIG. 170 , the clutch cam 110232 is affixed to theclutch collar 110234 and is rotatable with the clutch collar 110234.Referring primarily to FIG. 171 , the clutch collar 110234 is rotatablysupported within a cavity 120224 defined in a nozzle 120220 of the shaft120200 such that the clutch collar 110234 cannot translate, or at leastsubstantially translate, within the cavity 120224. Such an arrangementprovides a rotatable bearing for the clutch assembly. Moreover, as aresult of this arrangement, the clutch cam 110232 does not translate.Instead, the clutch cam 110232 is slideable within a longitudinal slot110292 defined in the clutch 110290 which permits the clutch 110290 toslide relative to the clutch cam 110232 when the clutch 110290 is drivenproximally and/or distally by the firing rod 120160 to articulate theend effector 110400, as described above.

As discussed above, the distal displacement of the closure tube 120240during the closure stroke causes the clutch assembly to switch from itsarticulation mode configuration (FIGS. 169 and 172 ) to its staplefiring mode configuration (FIGS. 170 and 173 ). More specifically, asidewall of the window 120245 defined in the closure tube 120240contacts the clutch cam 110232 during the closure stroke which causesthe clutch cam 110232, the clutch collar 110234, and the clutch 110290to rotate as illustrated in FIGS. 170 and 173 . Notably, this rotationof the clutch 110290 rotates the clutch shoulder 110294 out ofengagement with the drive notch 120164 defined in the firing rod 120160.That said, the clutch shoulder 110294 is still engaged with the drivenotch 110254 defined in the articulation driver 110250 when the clutch110290 is rotated into the staple firing mode configuration (FIGS. 170and 173 ). In any event, the clutch 110290 and the articulation driver110250 are operably de-coupled from the firing rod 120160 in the staplefiring mode configuration and the firing rod 120160 is advanceabledistally relative to the clutch 110290 and the articulation driver110250 to push the firing bar 110710 distally through the staple firingstroke. Referring again to FIG. 162 , the firing bar 110710 furthercomprises a distal knife head 110720 including a tissue knife edge110721 configured to cut patient tissue during the staple firing stroke,a cam 110722 configured to engage the anvil jaw 110420 during the staplefiring stroke, and a cam 110724 configured to engage the cartridge jaw110410 during the staple firing stroke.

As discussed above, the firing rod 120160 is moved proximally and/ordistally to articulate the end effector 110400 and then advanceddistally to perform the staple firing stroke. In various instances, as aresult, the firing rod 120160 may not always be in the same positionwhen the staple firing stroke is initiated. For instance, if the firingrod 120160 is advanced distally to articulate the end effector 110400,the firing rod 120160 will begin the staple firing stroke in a distalposition relative to when the firing rod is retracted proximally toarticulate the end effector 110400. To accommodate these differentstarting positions, the surgical instrument 120000 comprises a controlsystem which tracks and/or evaluates the position of the firing rod120160 before, when, and/or as the staple firing stroke is initiated.Referring to FIGS. 176-179 , the drive system 120900 comprises anencoder gear 120950 which is rotated by the gear train of the drivesystem 120900 when the drive system 120900 is operated. The drive system120900 further comprises a trackable magnetic element, or magneticelement system, 120960 mounted to the encoder gear 120950 and thecontrol system of the surgical instrument 120000 comprises an encoder120970 which is configured to track the position of the firing rod120160 by tracking the rotation of the encoder gear 120950. In at leastone embodiment, the encoder 120970 comprises a Hall Effect sensor, forexample. With data from the encoder 120970, the control system of thesurgical instrument 120000 can compensate for the different beginningpositions of the firing rod 120160 when the staple firing stroke isinitiated. In various instances, the control system is configured to addstroke length to the staple firing stroke when the firing rod 120160 ispositioned in a proximal starting position such that the tissue cuttingedge 110721 of the firing bar 110710 is always at the same position, ornearly the same position, within the staple cartridge at the end of thestaple firing stroke regardless of the angle and direction in which theend effector 110400 is articulated.

By way of example, further to the above, the firing rod 120160 is in ahome position when the end effector 110400 is in an unarticulatedposition as illustrated in FIG. 163 . Stated another way, the firing rod120160 has not been moved proximally or distally to articulate the endeffector 110400 when the firing rod 120160 is in its home position andis, as a result, in a center position within the articulation range.With reference to this home position of the firing rod 120160, thecontrol system adapts the operation of the stapling instrument 120000 toperform the staple firing stroke. When the staple firing stroke isinitiated from the home position of the firing rod 120160, the controlsystem operates the electric motor 120910 a set, or predetermined,number of rotations—as measured by the encoder 120970—to perform thestaple firing stroke. When the firing rod 120160 has been moved distallyto articulate the end effector 110400 in its first direction, thecontrol system operates the electric motor 120910 for a number ofrotations which is less than the predetermined number of rotations toperform the staple firing stroke. The difference between these twonumbers depends on the degree in which the end effector 110400 isarticulated—a value which is also sensed by the encoder 120970 duringthe articulation mode. Correspondingly, the control system operates theelectric motor 120910 for a number of rotations which is more than thepredetermined number of rotations to perform the staple firing strokewhen the firing rod 120160 has been pulled proximally to articulate theend effector 110400 in its second direction. As above, the differencebetween these two numbers depends on the degree in which the endeffector 110400 is articulated—a value which is also sensed by theencoder 120970 during the articulation mode. Moreover, data from theencoder 120970 is also used by the control system to consistentlyretract the firing rod 120160 back to its home position after the staplefiring stroke so that the surgical instrument 120000 can be re-usedafter the spent staple cartridge within the end effector 110400 has beenreplaced.

Further to the above, the control system of the surgical instrument120000 is configured to monitor the current through the electric motor120910 and adapt the operation of the surgical instrument 120000 basedon the magnitude of the current flowing though the electric motor120910. During the staple firing stroke, the force needed to transectthe patient tissue and deform the staples can be high which results in alarge current draw by the electric motor 120910. At the end of thestaple firing stroke, i.e., at the time when the distal-most staples inthe staple cartridge are being fired, the force needed to push thefiring rod 120160 and firing bar 110710 distally may drop suddenly. Thissudden drop in firing force corresponds to a sudden drop in the currentbeing drawn by the electric motor 120910. The control system of thesurgical instrument 120000 comprises a current detection circuit, suchas an ammeter circuit, for example, which is configured to detect thecurrent through the electric motor 120910 and, when the control systemdetects this sudden drop in current, the control system is configured todetermine that the staple firing stroke is over and stop the electricmotor 120910 to stop the distal movement of the firing rod 120160 andfiring bar 110710. This arrangement, in co-operation with the encoder120970, provides the control system with two independent systems fordetermining the end of the staple firing stroke. The current detectioncircuit can also provide the control system with data revealing anoverload condition within the drive system. In such instances, thecurrent through the electric motor 120910 may spike suddenly and thecontrol system is configured to stop, or pause, the electric motor120910 when a current threshold is exceeded to prevent the firing drivefrom being damaged. The above being said, the control system cancomprise any suitable algorithm for controlling the operation of thesurgical instrument 120000 based on data from the current monitoringsystem and/or encoder 120970.

In various embodiments, further to the above, the control system of thesurgical instrument 120000 comprises a PID (Proportional, Integral, andDifferential) velocity controller for controlling the electric motor120910. The PID velocity controller comprises an algorithm used toperform closed-loop velocity, or speed, control of the firing rod 120160and the firing bar 110710 along the longitudinal axis, or staple firingaxis, extending through the end effector 110400. In at least oneembodiment, the PID velocity control algorithm receives a velocity datainput stream and an acceleration data input stream regarding the motionof the firing rod 120160 and is configured to adjust the speed of theelectric motor 120910 to move the firing rod 120160 at a targetvelocity. In various instances, the PID velocity control algorithmcalculates and/or determines proportional gain, integral gain,differential gain, velocity feed forward, acceleration feed forward,and/or jerk feed forward values for controlling the velocity of thefiring rod 120160. The entire disclosure of U.S. Pat. No. 10,398,434,entitled CLOSED LOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTICSURGICAL INSTRUMENT, which issued on Sep. 3, 2019 is incorporated byreference herein. In any event, in various embodiments, the targetvelocity of the PID velocity controller can be set by the clinicianand/or pre-set by the manufacturer of the surgical instrument 120000. Inat least one such embodiment, the target velocity of the firing rod120160 is set so high that it is physically unachievable by the surgicalinstrument 120000. In such embodiments, the PID velocity controller willmimic an open loop control of the velocity of the firing rod 120160.

Further to the above, the firing rod 120160 is retracted proximally byoperating the electric motor 120910 in its second, or opposite,direction. That said, conditions may arise when the electric motor120910 cannot retract the firing rod 120160 proximally. For instance,the battery of the surgical instrument 120000 may fail thereby leavingthe surgical instrument 120000, and the motor 120910, in an unpoweredstate. In such instances, the bailout cover 110190′ (FIG. 154 ) can beremoved to expose the bailout actuator 120990 (FIG. 176 ) which can berotated, or cranked, to retract the firing rack 120150 proximally andpull the firing rod 120160 and firing bar 110710 back into an unfiredposition and/or a sufficiently-retracted position to disengage thefiring bar 110710 from the anvil jaw 110420. Referring to FIG. 178 , thebailout actuator 120990 comprises a ratchet mechanism that is engageablewith a rack of teeth on the top surface of the firing rack 120150 andcan be cranked one or more times to sufficiently retract the firing rod120160 and firing bar 110710. When the bailout actuator 120990 isactuated, further to the above, the bailout actuator 120990 pushes thegear 120930 out of engagement with the firing rack 120150 such that thebailout actuator 120990 does not backdrive the electric motor 120910and/or the gear train between the gear 120930 and the electric motor120910.

Once the firing rod 120160 and the firing bar 110710 have been retractedback into an unfired position, further to the above, the cam 110722 ofthe tissue cutting knife 110720 is no longer engaged with the anvil jaw110420. At such point, the anvil jaw 110420 can be re-opened. To re-openthe anvil jaw 110420, the closure tube 120240 is retracted proximally todis-engage the distal portion 120244 of the closure tube 120240 from theanvil jaw 110420 such that the springs 10446 (FIG. 161 ) in the endeffector 110400 uncompress and rotate the anvil jaw 110420 into itsunclamped position. Referring to FIGS. 154-156 , the closure tube 120240is retracted proximally when one or both of the release actuators 10180a and 10180 b on the handle 120100 are actuated and the closure trigger10140 is released. To this end, the handle 120100 comprises a springthat is compressed when the closure trigger 10140 is actuated and isconfigured to resiliently push the closure tube 120240 proximally whenone or both of the release actuators 10180 a and 10180 b are actuated tounlock the closure drive. The retraction of the closure tube 120240 alsodisengages the closure tube 120240 from the clutch assembly. The clutchassembly includes a biasing member, such as a torsion spring, forexample, which, in such instances, automatically rotates the clutchassembly and returns the stapling instrument from its staple firing modeinto its articulation mode in which the articulation drive is re-engagedwith the staple firing drive.

As discussed above, closing the end effector 110400 of the surgicalinstrument 120000 uncouples the articulation drive from the drive system120900. Stated another way, the end effector 110400 cannot bearticulated once it is closed. In various embodiments, further to theabove, the closure drive of the surgical instrument 120000 comprises oneor more partially-closed positions for the end effector 110400. In apartially-closed position of the end effector 110400, the anvil jaw110420 is not in a completely-closed position. In such embodiments, andin such instances, the articulation drive is still operably coupled tothe firing rod 120160 even though the anvil jaw 110420 is in apartially-closed position. As a result, a clinician can, in someinstances, better visualize the positioning of a partially-closed endeffector 110400 relative to the patient tissue while still being able toadjust the articulated position of the end effector 110400. In at leastone embodiment, the handle 120100 comprises a detent, or latch, featurewhich allows the closure trigger to be moved into and held in apartially-closed position while the articulation mode of the surgicalinstrument 120000 is still active. Once the clinician is satisfied withthe positioning of the end effector 110400, the clinician can completelyclose the closure trigger which, as a result, decouples the articulationdrive from the drive system 120900 as discussed above. In variousembodiments, such as those comprising an electric motor for driving theclosure system, the handle 120100 can comprise an actuator, or button,in communication with the control system of the surgical instrument120000 which, when actuated, causes the control system to move the anviljaw 110420 into a partially-closed position in which the articulationmode is still active. Once the clinician is satisfied with the positionof the end effector 110400, the clinician can depress another actuator,or button, in communication with the control system which, whenactuated, causes the control system to move the anvil jaw 110420 into acompletely-closed position and, as a result, decouples the articulationdrive from the drive system 120900.

Further to the above, referring to FIGS. 176 and 177 , the controlsystem of the surgical instrument 120000 comprises a control board120800 including a processor, microchips, memory devices, and/orcircuitry, for example, which controls the operation of the surgicalinstrument 120000 in response to inputs from the instrument controlsand/or sensors of the surgical instrument 120000. In addition to thecontrol board 120800, the control system can comprise a sub-board 120810in communication with the control board 120800. In at least oneembodiment, the sub-board 120810 can comprise a dedicated controlcircuit, such as a motor control circuit, for example. Referring toFIGS. 180-183 , the surgical instrument 120000 further comprises anorientation sensor, or switch, 120136 mounted to the control board120800 and a movable switch element 120135. In at least one embodiment,the switch element 120135 comprises a pivotable lever, for example.Further to the above, the shaft 120200 is rotatable relative to thehandle 120100 about a longitudinal axis through an entire rotation—360degrees—about the longitudinal axis that is divided into a firstorientation range in which a nozzle 120220 of the shaft 120200 is incontact with the switch element 120135 and the switch 120136 is in aclosed state (FIG. 182 ) and a second orientation range in which thenozzle 120220 is not in contact with the switch 120136 and the switch120136 is in an open state (FIG. 183 ). Similar to the above, the innersurface of the nozzle 120220 comprises an inner cam profile 120230 whichcomprises a small diameter region for contacting the switch element120135 when the shaft 120200 is in the first orientation range and alarge diameter region which does not contact the switch element 120135when the shaft 120200 is in the second orientation range. When thecontrol system of the surgical instrument 120000 detects that the switch120136 is closed, further to the above, the control system responds tocontrol inputs in a manner which is intuitive for the anvil jaw 110420being in an up orientation. Correspondingly, the control system respondsto control inputs in a manner which is intuitive for the anvil jaw110420 being in a down orientation when the control system detects thatthe switch 120136 is open. For instance, the control system can run theelectric motor 120910 in the first direction when an articulate-rightcontrol is actuated and the switch 120136 is in its closed state and asecond, or opposite, direction when the articulate-right control isactuated and the switch 120136 is in its open state.

In various embodiments, as discussed in greater detail herein, surgicalinstruments, such as surgical stapling instruments, for example,comprise a handle, a shaft, and an end effector articulatable relativeto the shaft by way of articulation controls positioned on the handleand/or another portion of the surgical instrument. The articulationcontrols can comprise any suitable combination of buttons and/orswitches, for example, which allow a user to articulate the end effectorin different directions relative to the shaft. For example, a firstbutton on the handle, when pressed, will articulate the end effector ina left direction relative to the handle and a second button, whenpressed, will articulate the end effector in a right direction relativeto the handle. In at least one instance, a rocker switch, for example,can be used where the first button and the second button each compriseopposite ends of the rocker switch.

In addition to the above, the shaft of the surgical instrument is alsorotatable about a longitudinal axis relative to the handle. Suchrotation also causes the end effector to rotate about the longitudinalaxis. When the shaft of a stapling instrument is rotated 180 degreesabout the longitudinal axis, the end effector can flip from an anvil-uporientation to an anvil-down orientation, for example. In such ascenario, the top jaw effectively becomes the bottom jaw. The shaft maythen be rotated 180 degrees in the same or opposite direction, forexample, to return the end effector to its original orientation.Regardless of the orientation of the shaft and end effector, one or bothof the end effector jaws can be opened and closed to clamp tissuetherebetween and the staple firing drive can be operated to fire staplesfrom a staple cartridge seated in the cartridge jaw of the end effector.

To make using the surgical stapling instrument intuitive as possible,the articulation controls can also be flipped, or re-mapped, forexample, when the end effector, and/or jaws of the end effector, areflipped. This can ensure that regardless of the orientation state of theend effector relative to the handle (anvil up/anvil down, for example),that the articulation controls always articulate the end effector in,not only the desired direction, but also the same direction relative tothe handle. For example, when the anvil is in an anvil up orientationrelative to the handle, a first articulation control, or button, willarticulate the end effector in a right direction relative to the handleand a second articulation control, or button, will articulate the endeffector in a left direction relative to the handle. When the shaft isrotated about its longitudinal axis to place the anvil in the anvil downorientation relative to the handle, the articulation controls canautomatically be flipped by, for example, a control circuit. When thearticulation controls are flipped, actuation of the first articulationcontrol will still articulate the end effector in the right directionand actuation of the second articulation control will still articulatethe end effector in the left direction. If the articulation controls arenot flipped, or re-mapped, however, the articulation controls willarticulate the end effector in the opposite direction when the endeffector is upside-down (the anvil is in an anvil down position) ascompared to when the end effector is right-side-up (the anvil is in theanvil up position).

Flipping, or remapping, the articulation controls on the fly as theshaft is rotated relative to the handle can be advantageous in that theuser does not have to think about how the end effector originallyarticulated before the user rotated the end effector into an upside downorientation. The end effector will always articulate in the samedirection relative to the handle. That being said, the end effector willnot always be in a perfectly anvil up position or a perfectly anvil downposition. Rather, the end effector may be rotated into any orientationbetween the anvil up position and the anvil down position. In suchin-between positions, however, the anvil may be in a generally upposition or a generally down position. If the anvil is in a generally upposition, the control system is configured to respond to thearticulation controls as if the anvil is in the anvil up position.Similarly, the control system is configured to respond to thearticulation controls as if the anvil is the anvil down position if theanvil is in a generally down position. When the end effector is rotatedright or left into, or near, a 90 degree position, however, it may bedifficult, absent more, for the user to visibly discern whether or notthe anvil is in a generally up or a generally down position andascertain how the end effector may respond to the articulation controls.

In at least one instance, providing visual feedback of the flipping, orremapping, of articulation controls can help alert a user that thecontrols have been flipped, or, are about to be flipped, when the endeffector rotation reaches a threshold orientation. The thresholdorientation can comprise a scenario where, owing to shaft rotation, theend effector has been rotated in 90 degrees about the longitudinal shaftaxis in either direction. Both of these orientations involve the anviljaw being pivotable side-to-side to clamp tissue. It is at both of theseorientations where end effector articulation can become completelyvertical. This may cause some confusion as to whether or not a ‘rightarticulation control’ would articulate the end effector up or down andwhether or not a ‘left articulation control’ would articulate the endeffector up or down. It is also at these orientations where thearticulation controls would be flipped at, and/or, upon passing theseorientations.

FIGS. 194-196 depict a surgical stapling instrument 150000 which issimilar in many respects to the surgical stapling instruments andassemblies described herein. The surgical stapling instrument 150000comprises a visual indicator 150010 configured to show a user of thesurgical stapling instrument 150000 when the shaft 120200, and thus theend effector, reach and/or pass an orientation threshold which causesthe articulation actuator, or controls, 10160 to be flipped, orremapped. The visual indicator 150010 comprises a mark 150016 defined ona rib of the nozzle 120220 and a threshold mark 150012 defined on thehandle 120100. The mark 150016 can comprise any suitable pattern orvisual. In various instances, the mark 150016 comprises an indent, araised surface, a painted surface, and/or a different texture surface,for example. In at least one instance, the mark 150016 is detectable bya user when the user touches the mark 150016. In various instances, themark 150012 comprises an indent, a raised surface, a painted surface,and/or a different texture surface, for example.

Further to the above, the mark 150012 is affixed to the handle and isstationary during use of the instrument 150000 while the mark 150016rotates with the shaft 120200 and the nozzle 120220. As the nozzle120200 is rotated through a range of rotational motion, by a motorand/or manually by a user, for example, the mark 150016 can approach,reach, and then pass by the mark 150012. The mark 150012 indicates athreshold orientation where, when the mark 150016 on the nozzle 120220passes the mark 150016 on the handle 120100, the articulation controls10160 are flipped, or re-mapped. In at least one instance, thearticulation controls 10160 comprise a rocker switch where the topswitch articulates right and the bottom switch articulates left. Whenthe threshold orientation is crossed, the user will know, based onseeing that the mark 150016 has passed the mark 150012 that thearticulation controls are flipped, or remapped, and that the controlsystem has compensated for the flipped orientation of the shaft and endeffector. When the mark 150016 passes the mark 150012, as a result, thetop switch still articulates the end effector to the right and thebottom switch still articulates the end effector to the left.

In various embodiments, the surgical stapling instrument 150000 furthercomprises an indicator light 150020 in communication with a controlcircuit of the surgical stapling instrument 150000 that is configured toalert a user when the output of the articulation controls 10160 has beenadjusted. In at least one embodiment, the control circuit comprises aprocessor including one or more input gates and one or more outputgates. The control circuit further comprises one or more sensors incommunication with the input gates of the processor which deliver avoltage potential or signal to the processor that the shaft and endeffector have reached a flipped orientation. Such sensors are disclosedthroughout the Subject Application. The indicator light 150020 comprisesa light emitting diode (LED), but could comprise any suitable indicatorlight. When illuminated, the indicator light 150020 emits one color and,when not illuminated, the indicator light 150020 does not emit a color.The indicator light 150020 is in communication with at least one of theprocessor output gates and is illuminated by the processor when theprocessor receives an input signal that the shaft and end effector havereached a flipped orientation. If the light 150020 is not on, the userwill know that the output response of the articulation actuator 10160 isnot flipped. In at least one alternative embodiment, the indicator light150020 comprises a multi-color LED that emits one color when theindicator light 150020 receives a low, or off, voltage signal from theprocessor and emits a different color when the indicator light 150020receives a high, or on, voltage signal from the processor.

In at least one instance, the indicator light 150020 alerts a user whenthe articulation actuator 10160 is about to be flipped and/or has beenflipped. In at least one instance, the indicator light 150020 isilluminated by the processor of the control circuit in a pulsing, orflashing, manner when the shaft 120200 is in an orientation just beforethe threshold orientation indicating that the output response of thearticulation actuators has not yet been flipped but may become flippedif the shaft and end effector are rotated further. The indicator light150020 is illuminated by the processor in a constant manner when theshaft 120200 is at the threshold orientation and past the thresholdorientation indicating that the output response of the control circuithas been switched. The processor does not illuminate the indicator light150020 when the shaft and end effector are not near the thresholdorientation and the output response of the articulation actuators hasnot been flipped. In at least one instance, the pulsing is configured togradually change speed based on how close the shaft 120200 is to theorientation threshold. For example, the closer the shaft 120200 is tothe orientation threshold, the faster the indicator light 150020 willflash.

Further to the above, the indicator light 150020 is configured to beilluminated with different colors corresponding to the different statesof the orientation of the shaft 120200 relative to the handle 120100.For example, the light 150020 can be illuminated green indicating thatthe shaft 120200 is not near the threshold orientation and that theoutput response to the articulation controls has not been changed. Thelight 150020 can be changed to amber when the shaft 120200 startsapproaching the threshold orientation and the output response to thearticulation controls has not been changed. The light 150020 can bechanged to red when the output response to the articulation controls hasbeen changed. In at least one embodiment, the light 150020 is pulsatedred when the shaft 120200 passes the threshold orientation. In at leastone embodiment, the light 150020 is pulsated amber when the shaft 120200gets further from the threshold orientation.

In at least one instance, auditory feedback is used in addition to or inlieu of visual indicators and/or lights, for example, to indicate thatthe rotation of the shaft is near, at, and/or beyond the thresholdorientation. For example, a speaker in communication with the processorcan be employed to audibly alert a user with pulsating sounds, differentsounds, sounds varying in volume and/or rhythm, and/or sounds comprisingspoken information, for example.

In various instances, various types of surgical instruments are usedwith a surgical hub in a surgical operating suite. Some surgical hubsare disclosed in U.S. patent application Ser. No. 15/940,656, entitledSURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOMDEVICES, the entire disclosure of which is incorporated by referenceherein. In at least one embodiment, a surgical instrument, such as thestapling instrument 150000, for example, comprises a wireless signaltransmitter that transmits data regarding the stapling instrument 150000to the surgical hub. In various instances, the surgical hub comprises atleast one display screen visible to one or more clinicians in thesurgical operating suite. The display screen may comprise a variety ofinformation comprising instrument status, patient data, and/oroperational procedural data, for example. FIGS. 197 and 198 each depicta display option 150100 and 150110 where the display can show the statusof various devices connected to the hub. This information can includethe orientation state of the end effector relative to the handle, forexample. In at least one instance, the display is configured to alert auser of the current status regarding the orientation state of the endeffector relative to the handle and whether or not the articulationcontrols are flipped. For example, the display 150100 shows that theconnected surgical instrument, by way of wireless communication, forexample, is in an anvil down orientation and that the articulationactuator has been flipped, or reversed. The display 150100 can be usedin addition to or in lieu of the indicator light 150020. In variousembodiments, the display 150100 and the indicator light 150020 areco-ordinated and/or updated simultaneously to show the change, or lackof change, in the output response of the control system to the controlactuators. In various embodiments, the information displayed on thehandle of the surgical instrument is also displayed on the hub display150100. In at least one such embodiment, the manner in which theinformation is displayed on the handle is the manner in which the datais displayed on the hub display 150100.

As discussed above, sensors and/or switches are used in conjunction withone or more components of a surgical stapling instrument to determinethe orientation of the shaft relative to the handle. FIG. 199 depicts asurgical stapling assembly 151000 comprising a handle 151010 and a shaftassembly 151200 rotatable relative to the handle 151010. The shaftassembly 151200 comprises a proximal nozzle 151210 and a plurality ofshafts 151220 extending longitudinally through the shaft assembly 151200along a longitudinal axis toward an end effector extending from theshaft assembly 151200. The shafts 151220 comprise a firing rod 151220and a frame, or channel retainer, 151222. All of the components of theshaft assembly 151200, and the end effector, are rotatable togetherrelative to the handle 151010 about the longitudinal axis. The staplingassembly 151000 further comprises a sensing, or detecting, systemconfigured to monitor the orientation of the shaft assembly 151200relative to the handle 151010. Data from the sensing system is fed to acontrol circuit of the surgical stapling assembly 151000, and/or thesurgical hub, constantly or at predetermined sample rate that thecontrol circuit uses to assess whether or not to change the outputresponse of the articulation controls of the stapling assembly 151000.The sensing system comprises a magnetic element, such as magnet 151310,for example, mounted on the frame 151222 and a Hall Effect sensor 151320mounted directly on a printed circuit board 151300 positioned within thehandle 151010. As discussed further below, the Hall Effect sensor 151320is in communication with the control circuit of the stapling assembly151000. In addition to or in lieu of the Hall Effect sensor 151320, alight sensor, a proximity sensor, an infrared sensor, a pressure sensor,a position sensor, a force sensor, and/or a piezo sensor, for example,can be utilized.

As the shaft assembly 151200 is rotated relative to the handle 151010,the magnet 151310 rotates with the shaft assembly 151200. This rotationof the magnet 151310 is detectable by the Hall Effect sensor 151320which produces a different voltage output for each rotated orientationof the shaft assembly 151200. This information can be utilized by acontrol circuit to automatically switch, or remap, articulation controlspositioned on the handle when the shaft assembly 151200 has reached orcrossed an orientation threshold. In various instances, two or moremagnets can be used so as to provide a discrete output that is uniquelypaired with a discrete orientation of the shaft assembly 151200.

FIGS. 200-202 depict a surgical stapling assembly 152000 which issimilar in many respects to various other surgical stapling assembliesdisclosed herein, such as the surgical stapling assembly 151000 depictedin FIG. 199 , for example. The stapling assembly 152000 comprises ahandle 152010 and a shaft assembly 152200 rotatable relative to thehandle 152010. The shaft assembly 152200 comprises a proximal nozzle152210 and a plurality of shafts 152220 extending through the handle152010 and the shaft assembly 152200 toward an end effector. The shafts152220 comprise a firing rod 152220 and a frame, or channel retainer,152222. Because the end effector is rotatable about a longitudinal shaftaxis, all of the components of the shaft assembly 152200 are rotatablerelative to the handle 152010. The surgical stapling assembly 152000further comprises a sensing system comprising a magnet ring 152310mounted within the nozzle 152210 and a Hall Effect sensor 152320 mounteddirectly on a printed circuit board 152300 positioned within the handle152010. As can be seen in FIG. 202 , the magnet ring 152310 is dividedinto two halves. One half of the magnet ring 152310 comprises a firstpolarity and the other half of the magnet ring 152310 comprises a secondpolarity opposite to the first polarity. The differing polarities can bealigned within the shaft assembly such that the Hall Effect sensor candetect when the shaft assembly 152200 passes the threshold orientation.One polarity can indicate the anvil up position and the other polaritycan indicate the anvil down position. This information can be fed to acontrol circuit of the stapling assembly 152000 to automatically remapthe articulation controls of the stapling assembly 152000 and/or alert auser of the switched output of the articulation controls. FIG. 203depicts an alternative magnet ring 152410 which uses a plurality ofalternating polarities along the circumference of the magnet ring152410. In at least one instance, the alternating polarities aremonitored by a control circuit with the Hall Effect sensor. Utilizing amagnet and a Hall Effect sensor in the manner discussed above caneliminate the resistance caused when physically contacting a switchelement, for example, and increase the longevity the stapling assembly.

In various embodiments, a surgical stapling assembly comprises a handle,a shaft extending from the handle, and an end effector attached to theshaft by way of an articulation joint. The end effector is articulatablerelative to the shaft by way of an articulation drive that is controlledby articulation controls, or actuators, positioned on the handle, forexample, that are used to orient the end effector within a patient whenthe end effector is in an open, or unclamped, configuration. Asdiscussed in greater detail herein, the surgical stapling assemblycomprises a staple firing drive that is used to drive the articulationdrive when the articulation drive system is coupled to the staple firingdrive. The stapling assembly further comprises a closure driveconfigured to move the end effector from its open configuration toward afully-clamped configuration. More specifically, the closure drive, whenactuated, moves a movable jaw of the end effector from an unclampedposition to a fully-clamped position. The stapling assembly comprises aclutch which decouples the articulation drive from the firing drive whenthe movable jaw passes a partially-closed threshold position. Until themovable jaw reaches the threshold position, however, the end effectorcan be articulated while partially closed. Such an arrangement canpermit the end effector to be articulated while in a partially closedposition yet prevent a user from articulating the end effector when theend effector is fully clamped onto the patient tissue. Moreover,allowing a user to articulate a partially clamped end effector can behelpful when an end effector with a wide jaw aperture is being used assuch end effectors may be more difficult to maneuver in tight spaces.However, absent more, a user may not know when the end effector haspassed the partial closure threshold position and is no longer capableof being articulated.

FIGS. 204-207 depict a surgical stapling assembly 152500 comprising ahandle 152510, a shaft assembly 152520 extending from the handle 152510,and an end effector 152530 articulatable relative to the shaft assembly152520 by way of an articulation joint 152525. The handle 152510comprises articulation controls 152514 configured to be actuated by auser of the stapling assembly 152500 to articulate the end effector152530. The shaft assembly 152520 comprises a nozzle 152521 and anelongate shaft portion 152523. The end effector 152530 comprises acartridge channel jaw 152531 and an anvil jaw 152532 movable relative tothe cartridge channel jaw 152531 between a fully-unclamped position(FIG. 204 ) and a fully-clamped position (FIG. 207 ). The handle 152510further comprises a pistol grip portion 152511, a closure trigger 152512configured to be actuated by a user of the stapling assembly 152500 tomove the anvil jaw 152532 from the fully-unclamped position (FIG. 204 )to the fully-clamped position (FIG. 207 ), and a firing trigger 152513that is actuatable to fire the end effector 152530. In variousalternative embodiments, the cartridge channel jaw 152531 is movablerelative to the anvil jaw 152532 and the closure trigger is actuatableto move the cartridge channel jaw 152531 from a fully-unclamped positionto a fully-clamped position.

The surgical stapling assembly 152500 further comprises a visualindicator 152550 configured to indicate whether or not the end effector152530 is still articulatable based on the closure state of the endeffector 152530. In various embodiments, the visual indicator 152550comprises an LED in electrical communication with an output gate of acontrol circuit processor that is illuminated when the end effector isarticulatable, i.e., that the end effector has not been closed beyondthe partial closure threshold position. When the control circuitprocessor detects that the end effector has been closed beyond thepartial closure threshold position, the control circuit processorde-illuminates the visual indicator 152550 to indicate that the endeffector 152530 can't be articulated. As discussed further below, thecontrol circuit comprises at least one sensor in communication with aninput gate of the control circuit processor that provides data to thecontrol circuit processor regarding the closure state of the endeffector.

In various alternative embodiments, the LED of the visual indicator152550 is not illuminated when the end effector 152530 is articulatableand is illuminated when the end effector 152530 is not articulatable. Inat least one such embodiment, the control circuit processor flashes thevisual indicator 152550 when the clutch decouples the articulation drivefrom the staple firing drive which disables the user's ability toarticulate the end effector 152530. FIG. 204 illustrates the anvil jaw152532 in a fully open, or unclamped, position and the visual indicator152550 in an unilluminated condition. FIG. 205 illustrates the anvil jaw152532 in a first partially-clamped position and the visual indicator152550 in an unilluminated condition. FIG. 206 illustrates the anvil jaw152532 in a second partially-clamped position. The secondpartially-clamped position comprises the partially-clamped thresholdposition and, thus, the visual indicator 152550 is activated. FIG. 207illustrates the anvil jaw 152532 in a fully-clamped position and thevisual indicator 152550 in an activated condition. Consistent with thedeactivation of the visual indicator 152500 in FIGS. 204 and 205 , theend effector 152530 is articulatable in the conditions illustrated inFIGS. 204 and 205 . The end effector 152530 is not articulatable in thepositions illustrated in FIGS. 206 and 207 . This inability toarticulate the end effector 152530 is indicated by the activation of thevisual indicator 152550.

In various embodiments, the visual indicator 152550 comprises two ormore lights. In at least one embodiment, one light of the visualindicator 152550 is illuminated green if the end effector 152530 isstill capable of being articulated and the anvil jaw 152532 has not beenclosed past the partially-clamped threshold position. Another light ofthe visual indicator 152550 will illuminate a different color, such asred, for example, when the anvil jaw 152532 reaches and/or passes thepartially-clamped threshold position indicating that the end effector152530 is no longer capable of being articulated. In at least oneinstance, one light of the visual indicator 152550 will pulsate with agradually changing frequency corresponding to the position of the anviljaw 152532. For example, a light of the visual indicator 152550 willblink slowly when the anvil jaw 152532 is fully open. As the anvil jaw152532 approaches the partially-clamped threshold position, the light ofthe visual indicator 152550 will pulsate faster and faster and, when theanvil jaw 152532 reaches and/or passes the partially-clamped thresholdposition, the light of the visual indicator 152550 will stop flashingand remain solidly illuminated. In at least one instance, the light ofthe visual indicator 152550 will change colors when the anvil jaw 152532passes the partially-clamped threshold position.

While the anvil jaw 152532 is in the fully-clamped position, in at leastone embodiment, the light of the visual indicator 152550 may blink redslowly indicating that the end effector 152530 is far from being able tobe articulated. As the anvil jaw 152532 is opened from the fully-clampedposition, the slow-pulsating red light pulses faster and faster as theanvil jaw 152532 approaches the partially-clamped threshold position.The light flips to solid green just after passing thepartially-unclamped threshold position.

FIG. 208 depicts a handle 153000 of a surgical stapling instrument whichis similar in many respects to the surgical instrument handles disclosedherein. The handle 153000 comprises a sensor 153020 and a sensor inputdevice 153010 detectable by the sensor 153020. In at least one instance,the sensor 153020 comprises a Hall Effect sensor and the sensor inputdevice 153010 comprises a magnet, although any suitable arrangementcould be used. The magnet 153010 is mounted on the top portion 10144 ofthe closure trigger 10140. The Hall Effect sensor 153020 is mounteddirectly on the control board 120800 and is in communication with thecontrol circuit of the surgical stapling instrument. The Hall Effectsensor 153020 is configured to detect the position of the magnet 153010and, thus, detect the rotational position of the closure trigger 10140.Given that the rotational position of the anvil jaw 152532 is linked tothe rotational position of the closure trigger 10140, the controlcircuit can use the detected rotational position of the closure trigger10140 as a proxy for the rotational position of the anvil jaw 152532. Insuch embodiments, a sensor down in the end effector 152530, and thesignal path back to the handle 153000, can be avoided.

FIG. 209 depicts a shaft assembly 153100 of a surgical instrumentassembly which is similar in many respects to the shaft assembliesdisclosed herein. The shaft assembly 153100 comprises a sensor 153110mounted within a nozzle 153101 and a sensor input device 153120 mountedon the rotatable collar 110234 that is detectable by the sensor 153110.In at least one instance, the sensor 153110 comprises a Hall Effectsensor and the sensor input device 153120 comprises a magnet, althoughany suitable arrangement could be used. The sensor 153110 is incommunication with the control system of the surgical instrumentassembly and is configured to detect the rotation of the rotatablecollar 110234 (FIG. 131 ) which can provide an indication to the controlcircuit as to closure state of the end effector 152530 given that therotatable collar 110234 is rotated by the closure drive during theclosure stroke. In effect, the control circuit can use the detectedrotational position of the collar 110234 as a proxy for the rotationalposition of the anvil jaw 152532. As above, a sensor down in the endeffector 152530, and the signal path back to the handle 153000, can beavoided in such arrangements.

An end effector 130400 is illustrated in FIGS. 184-187 . The endeffector 130400 comprises a cartridge jaw 130410 and an anvil jaw 130420rotatably coupled to the cartridge jaw 130410. The cartridge jaw 130410comprises a proximal end 130411, a distal end 130414, and a channel130413 extending between the proximal end 130411 and the distal end130414. The channel 130413 is configured to closely receive a staplecartridge 130430 therein such that there is little, if any, relativemovement between the staple cartridge 130430 and the channel 130413. Thestaple cartridge 130430 and the channel 130413 comprise co-operatingsnap-fit and/or press-fit features which releasably hold the staplecartridge 130430 in the cartridge jaw 130410. The staple cartridge130430 comprises a cartridge body including staple cavities 130438defined therein and staples removably stored in the staple cavities130438. The staple cartridge 130430 further comprises staple driversconfigured to support the staples and a sled movable from a proximalposition to a distal position to drive the staple drivers and staplestoward the anvil jaw 130420 during a staple firing stroke. When thestaple cartridge 130430 is seated in the channel 130413, the staplecartridge 130430 is positioned over a rotatable drive screw 130710extending through the cartridge jaw 130410 such that the sled ispositioned in front of a tissue cutting knife 130720 threadably engagedwith the drive screw 130710. The rotatable drive screw 130710 comprisesa proximal end operably coupled to an electric motor in the handle ofthe surgical instrument and a distal end rotatably supported by abearing 130416 defined in the distal end 130414 of the cartridge jaw130410. When the drive screw 130710 is rotated in a first direction, thedrive screw 130710 drives the tissue cutting knife 130420 distally froman unfired position to push the sled through the staple firing stroke.When the drive screw 130710 is rotated in a second, or opposite,direction, the drive screw 130710 retracts the tissue cutting knife130720 back into its unfired position. Notably, the sled is notretracted proximally with the tissue cutting knife 130720. As a result,in various embodiments, the sled can be used as part of a missingcartridge/spent cartridge lockout which prevents a spent staplecartridge from being fired after it has been previously fired.

Further to the above, the anvil jaw 130420 comprises a proximal end130421 rotatably coupled to the cartridge jaw 130410 about a pivot,discussed further below, and a distal end 130424 movable toward and awayfrom a distal end 130434 of the staple cartridge 130430. The anvil jaw130420 further comprises staple forming pockets 130428 (FIG. 190 )defined therein which are registered with the staple cavities 130438,and the staples positioned in the staple cavities 130438, of the staplecartridge 130430 when the anvil jaw 130420 is in a clamped position.Moreover, the anvil jaw 130420 further comprises an opening 130422defined therein which is configured to receive and provide clearance fora top flange 130722 of the tissue cutting knife 130720 when the anviljaw 130420 is in its closed position. Further to the above, the tissuecutting knife 130720 is movable distally from its proximal unfiredposition (FIG. 187 ) to perform the staple firing stroke and cut patienttissue with a knife edge 130271 defined thereon. When the tissue cuttingknife 130720 is moved distally, the top flange 130722 is no longeraligned with the opening 130422 and, instead, the top flange 130722enters into an internal longitudinal slot defined in the anvil jaw130420. The flange 130722 is configured to hold the anvil jaw 130420 inposition during the staple firing stroke in co-operation with a bottomflange extending from the tissue cutting knife 130720 that is engagedwith the cartridge jaw 130410. In such instances, the anvil jaw 130420cannot be re-opened unless the tissue cutting knife 130720 is retractedproximally out of engagement with the anvil jaw 130420.

Further to the above, the anvil jaw 130420 comprises a first lateralside, a second lateral side, and a trunnion 130425 extending from eachof the first and second lateral sides. The cartridge jaw 130410comprises a first lateral sidewall closely aligned with the firstlateral side of the anvil jaw 130420, a second lateral sidewall closelyaligned with the second lateral side of the anvil jaw 130420, and analignment slot 130415 defined in each of the first and second lateralsidewalls which closely receive a trunnion 130425 therein. The closelateral alignment between the cartridge jaw 130410 and the anvil jaw130420 prevents the anvil jaw 130420 from sliding laterally relative tothe cartridge jaw 130410. In various instances, there is a line-to-linelateral fit between the anvil jaw 130420 and the cartridge jaw 130410.Similarly, in various instances, there is a line-to-line fit between thetrunnions 130425 and the sidewalls of the alignment slots 130415 whichprevents the anvil jaw 130420 from sliding longitudinally relative tothe cartridge jaw 130410 but permits the anvil jaw 130420 to rotaterelative to the cartridge jaw 130410. That said, the rotation, oropening, of the anvil jaw 130420 is constrained when stop surfaces130429 defined on the proximal end 130421 of the anvil jaw 130420contact stops 130419 defined in the cartridge jaw 130410.

When the anvil jaw 130420 is assembled to the cartridge jaw 130410,further to the above, the trunnions 130425 are aligned with the openends of the alignment slots 130415 defined in the cartridge jaw 130410and then pushed into contact with the bottom ends of the alignment slots130415. To retain the trunnions 130425 in this position, retaining clips130440 are assembled to the trunnions 130425 and then welded to thecartridge jaw 130410. Each retaining clip 130440 comprises an aperture130445 defined therein which is slid over and closely receives atrunnion 130425 therein. The trunnion 130425 is cylindrical, or at leastsubstantially cylindrical, and the aperture 130445 is circular, or atleast substantially circular. The trunnion 130425 comprises an outerdiameter which is equal to, or slightly smaller than, the diameter ofthe aperture 130445 such that the trunnion 130425 rotates within, butdoes not translate relative to, the retaining clip 130440. Eachretaining clip 130440 further comprises a circular, or an at leastsubstantially circular, body and an alignment arm 130447 extendingtherefrom. The circular body of each retaining clip 130440 is closelyreceived within a circular, or an at least substantially circular,recess 130417 defined in an outwardly-facing surface of the first andsecond lateral sidewalls of the cartridge jaw 130410. The alignment arm130447 of each retaining clip 130440 comprises a rectangular member, oran at least substantially rectangular member, closely received within analignment slot 130415. In various instances, each alignment slot 130415comprises parallel, or at least substantially parallel, sidewallsextending from the open end of the alignment slot 130415 to the closedend. In at least one embodiment, the sidewalls of each alignment slot130415 comprise tapered sidewalls extending from a larger open end to asmaller closed end. In either event, the alignment arms 130447 of theretaining clips 130440 interact with the sidewalls of the alignmentslots 130415 which prevents the anvil jaw 130420 from sliding relativeto the cartridge jaw 130410. In various instances, the retaining clips130440 are welded to the cartridge jaw 130410 along the perimeter, orinterface, between the retaining clips 130440 and the cartridge jaw130410 to hold the retaining clips 130440 in position.

An end effector 131400 is illustrated in FIGS. 188-190 and is similar tothe end effector 130400 in many respects, most of which will not berepeated herein for the sake of brevity. The end effector 131400comprises a cartridge jaw 131410 and retaining clips 131440 which holdthe anvil jaw 130420 to the cartridge jaw 131410. Similar to the above,the retaining clips 131440 prevent the anvil jaw 130420 from translatingrelative to the cartridge jaw 131410 but permit the anvil jaw 130420 torotate relative to the cartridge jaw 131410 between open and closedpositions. Each retaining clip 131440 comprises a circular body closelyreceived within a circular recess defined in the cartridge jaw 131410and alignment flanges 131447 extending therefrom which are closelyreceived in corresponding recesses 131417 defined in the cartridge jaw131410. The alignment flanges 131447 and the recesses 131417 are sizedand configured to prevent the retaining clips 131440 from rotatingrelative to the cartridge jaw 131410. Moreover, the alignment flanges131447 of each retaining clip 131400 extends in opposite directions andco-operate to resist the lateral, or sideways, rotation of the anvil jaw130420 relative to the cartridge jaw 131410. Each retaining clip 131440provides two points of control via the alignment flanges 131447resulting in a four-point control of the anvil jaw 130420. Additionally,each alignment flange 131447 comprises a control peg, or pin, 131446extending therefrom which is closely received in an aperture 131416defined in the cartridge jaw 131410 which assists in stabilizing theretaining clip 131440 in position. Similar to the above, the retainingclips 131440 are welded and/or otherwise suitably affixed to thecartridge jaw 131410 to hold the anvil jaw 130420 in position.

As discussed above, the retaining clips 130440 and 131440 hold the anviljaw 130420 in alignment with the cartridge jaw 130410. Morespecifically, the retaining clips 130440 and 131440 hold the stapleforming pockets 130428 (FIG. 190 ) in registration with the staplesstored in the staple cartridge 131430 such that the staples are properlydeformed during the staple firing stroke. That said, the method used toassemble the end effectors 130400 and 131400 can have a large impact onreliably aligning the staple forming pockets 130428 with the staples. Invarious instances, a jig, or fixture, is used to assemble the endeffector 130400 and/or 131400. In at least one instance, with referenceto the end effector 130400, the cartridge jaw 130410 is seated in afirst portion of the jig and the anvil jaw 130420 is positioned on topof the cartridge jaw 130410 such that the trunnions 130425 arepositioned in the alignment slots 130415, as discussed above. At suchpoint, a second portion of the jig is moved toward the first portion ofthe jig to cam, or nudge, the anvil jaw 130420 into its proper positionrelative to the cartridge jaw 130410 and hold the anvil jaw 130420 inits proper positon. In at least one embodiment, the jig comprises a lockwhich holds the second portion of the jig in position relative to thefirst portion. In any event, the first and second portions of the jigcomprise control surfaces which control the position of the cartridgejaw 130410 and the anvil jaw 130420 within the jig. Once the jig isclosed, the retaining clips 130440 are assembled to the trunnions 130425and welded, or otherwise affixed, to the cartridge jaw 130410. The jigis opened to release the end effector 130400. At such point, the anviljaw 130420 is properly secured in position such that the staple formingpockets 130428 will be aligned with the staples of a staple cartridge130430 that is seated in the cartridge jaw 130410.

Further to the above, a staple cartridge is insertable into, andseatable within, a cartridge jaw of a stapling instrument. In variousembodiments, the cartridge jaw comprises a stop, or datum, against whichthe staple cartridge can contact to make sure that the staple cartridgeis seated in the correct position in the cartridge jaw. The stop isconfigured to prevent the staple cartridge from being inserted toodeeply, i.e., proximally, into the end effector. Without such a stop, itis possible—in some instances and in some embodiments—for the staplecartridge to be inserted too deeply into the end effector such that thestaple cartridge accidentally contacts the tissue cutting knife, forinstance. In some such instances, the sled positioned in the staplecartridge may contact the tissue cutting knife before the staplecartridge is fully seated and, as a result, the sled may beaccidentally, and prematurely, pushed distally within the staplecartridge from its unfired position. A sled in such a disturbed positionwould not be able to defeat or deactivate a staple firing lockout thatkeys off of the sled being in its unfired position at the outset of thestaple firing stroke of the tissue cutting knife.

In addition to or in lieu of a cartridge stop in a cartridge jaw asdiscussed above, the anvil jaw of an end effector can comprise acartridge stop configured to prevent a staple cartridge from beinginserted too deeply, i.e., proximally, within the end effector.Referring to FIGS. 191-193 , an end effector 140400 of a surgicalstapling instrument comprises a cartridge jaw 140410 and an anvil jaw140420. The anvil jaw 140420 is rotatable relative to the cartridge jaw140410; however, in various other embodiments, the cartridge jaw 140410is rotatable relative to the anvil jaw 140420. In either event, thecartridge jaw 140410 is configured to receive a staple cartridge 140430therein. The cartridge jaw 140410 defines a channel including a bottomwall 140412 and lateral sidewalls 140414 extending upwardly from thebottom wall 140412. When the staple cartridge 140430 is inserted intothe channel, a proximal end 140432 of the staple cartridge 140430 isinserted between the cartridge jaw 140410 and the anvil jaw 140420 by aclinician and moved proximally into the end effector 140400. In manyinstances, the clinician is able to visually align the staple cartridge140430 between the lateral sidewalls 140414 and visually determine theproper depth, i.e., proximal-to-distal position, of the staple cartridge140430 along a longitudinal axis LA before seating the staple cartridge140430 into the cartridge jaw 140410. The cartridge jaw 140410 and/orthe staple cartridge 140430 comprise snap-fit and/or press-fit featureswhich releasably secure the staple cartridge 140430 in the cartridge jaw140410 when the staple cartridge 140430 is pushed into, i.e., seatedwithin, the cartridge jaw 140410. In some instances, however, theclinician may mistakenly attempt to insert the staple cartridge 140430too deeply, i.e., proximally, into the end effector 140400 whenattempting to seat the staple cartridge 140430 within the cartridge jaw140410. As such, the anvil jaw 140420 comprises cartridge stops 140422which are configured to prevent the staple cartridge 140430 fromcontacting a firing bar 140710 of the stapling instrument when thestaple cartridge 140430 is inserted into the end effector 140400.

Further to the above, the firing bar 140710 comprises a distal knifehead 140720 including a tissue knife edge 140721 configured to cutpatient tissue during a staple firing stroke, a first cam configured toengage the anvil jaw 140420 during the staple firing stroke, and asecond cam configured to engage the cartridge jaw 140410 during thestaple firing stroke. When the anvil jaw 140420 is in its openconfiguration and the firing bar 140710 has not been advanced throughthe staple firing stroke, referring to FIG. 192 , the cartridge stops140422 extend distally with respect to the firing bar 140710 such thatthe staple cartridge 140430 cannot contact the firing bar 140710 whenthe staple cartridge 140430 is being loaded proximally into the endeffector 140400. As a result, a sled 140440 positioned in a cartridgebody 140450 of the staple cartridge 140430 isn't accidentally pushedforward out of its proximal unfired position (FIGS. 192 and 193 ) byaccidentally contacting the firing bar 140710 prior to the staple firingstroke.

Once the staple cartridge 140430 has been properly seated in thecartridge jaw 140410, further to the above, the end effector 140400 canbe moved into its clamped configuration (FIG. 193 ) such that the endeffector 140400 can be inserted into a patient and/or clamped ontopatient tissue. When the staple firing stroke is initiated, the firingbar 140710 is advanced distally past the cartridge stops 140422 to firethe staples stored in the cartridge body 140450. Stated another way, thecartridge stops 140422 are positioned and arranged such that they do notinterfere with the firing bar 140710 during the staple firing strokeand/or when the firing bar 140710 is retracted back into its unfiredposition. Each cartridge stop 140422 comprises a tab, shoulder, wall,and/or flange, for example, extending downwardly from the anvil jaw140420, i.e., toward the cartridge jaw 140410, such that the cartridgestops 140422 extend downwardly on the lateral sides of the firing bar140710. That being said, the cartridge stops 140422 can comprise anysuitable configuration and, in at least one embodiment, an anvil jaw140420 may have only one cartridge stop 140422.

As a result of the above, the possibility of the sled 140440 beingaccidentally displaced distally out of its proximal unfired positionprior to the staple firing stroke is reduced. When the sled 140440 is inits proximal unfired position when the staple firing stroke isinitiated, further to the above, the sled 140440 can defeat or overcomea firing stroke lockout at the beginning of the staple firing strokewhich permits the staple firing stroke to be performed. When the sled140440 is not in its proximal unfired position when the staple firingstroke is initiated, the sled 140440 does not defeat or overcome thefiring stroke lockout at the beginning of the staple firing stroke whichprevents the staple firing stroke from being performed. The entiredisclosures of U.S. Pat. No. 7,143,923, entitled SURGICAL STAPLINGINSTRUMENT HAVING A FIRING LOCKOUT FOR AN UNCLOSED ANVIL, which issuedon Dec. 5, 2006; U.S. Pat. No. 7,044,352, SURGICAL STAPLING INSTRUMENTHAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING, which issuedon May 16, 2006; U.S. Pat. No. 7,000,818, SURGICAL STAPLING INSTRUMENTHAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued onFeb. 21, 2006; U.S. Pat. No. 6,988,649, SURGICAL STAPLING INSTRUMENTHAVING A SPENT CARTRIDGE LOCKOUT, which issued on Jan. 24, 2006; andU.S. Pat. No. 6,978,921, SURGICAL STAPLING INSTRUMENT INCORPORATING ANE-BEAM FIRING MECHANISM, which issued on Dec. 27, 2005, are incorporatedby reference herein.

Further to the above, referring again to FIGS. 192 and 193 , theproximal end 140432 of the staple cartridge 140430 is positioned closeto, but distally with respect to, the cartridge stops 140422 when thestaple cartridge 140430 is seated in the cartridge jaw 140410. Thecartridge stops 140422 extend behind the proximal end 140432 of thestaple cartridge 140430 when the end effector 140400 is in its openconfiguration (FIG. 192 ) and in its clamped configuration (FIG. 193 )such that there is clearance between the cartridge 140430 and thecartridge stops 140422 so that the end effector 140400 can be opened andclosed.

Notably, further to the above, the distal knife head 140720 moves withina longitudinal slot 140421 defined in the anvil jaw 140420 between thecartridge stops 140422 during the staple firing stroke. The cartridgestops 140422 extend behind the staple cartridge 140430 on opposite sidesof the longitudinal slot 140421. Also notably, the distal knife head140720 moves within a longitudinal slot defined in the staple cartridge140430 during the staple firing stroke. The longitudinal slot defined inthe staple cartridge 140430 divides the proximal end 140432 of thestaple cartridge 140430 into a first lateral side and a second lateralside and is aligned with, or substantially aligned with, thelongitudinal slot 140421 in the anvil jaw 140420. As a result of thisarrangement, one of the cartridge stops 140422 extends behind the firstlateral side of the staple cartridge 140430 and the other cartridge stop140422 extends behind the second lateral side of the staple cartridge140430.

Further to the above, each cartridge stop 140422 comprises a distal edge140423 which faces the staple cartridge 140430. Each distal edge 140423comprises one or more surfaces which are configured to block theproximal movement of the staple cartridge 140430 without contacting thesled 140440. For instance, referring to FIG. 192 , the distal edge140423 of each cartridge stop 140422 comprises a flat, or an at leastsubstantially flat, surface 140425 which faces the staple cartridge140430 when the end effector 140400 is in its open configuration and thestaple cartridge 140430 is inserted into the end effector 140400. If thestaple cartridge 140430 is inserted too deeply into the end effector140400, the cartridge body 140450 of the staple cartridge 140430contacts the cartridge stops 140422 instead of the sled 140440contacting the cartridge stops 140422. If the sled 140440 were tocontact the cartridge stops 140422, the staple cartridge 140430 wouldbecome spoiled and unuseable, as described above, and would need to bereplaced. As a result of the arrangement of the end effector 140400, thestaple cartridge 140430 may not be accidentally spoiled before it isfired which can reduce time during the surgical procedure and reduce thefrustration of the clinician.

The surgical instrument systems described herein are motivated by anelectric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In certain instances,the motors disclosed herein may comprise a portion or portions of arobotically controlled system. U.S. patent application Ser. No.13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example,discloses several examples of a robotic surgical instrument system ingreater detail, the entire disclosure of which is incorporated byreference herein. The disclosures of International Patent PublicationNo. WO 2017/083125, entitled STAPLER WITH COMPOSITE CARDAN AND SCREWDRIVE, published May 18, 2017, International Patent Publication No. WO2017/083126, entitled STAPLE PUSHER WITH LOST MOTION BETWEEN RAMPS,published May 18, 2017, International Patent Publication No. WO2015/153642, entitled SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION,published Oct. 8, 2015, U.S. Patent Application Publication No.2017/0265954, filed Mar. 17, 2017, entitled STAPLER WITH CABLE-DRIVENADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL PULLEYS, U.S. PatentApplication Publication No. 2017/0265865, filed Feb. 15, 2017, entitledSTAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DISTALPULLEY, and U.S. Patent Publication No. 2017/0290586, entitled STAPLINGCARTRIDGE, filed on Mar. 29, 2017, are incorporated herein by referencein their entireties.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The entire disclosures of:

-   -   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC        DEVICE, which issued on Apr. 4, 1995;    -   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT        HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which        issued on Feb. 21, 2006;    -   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING        AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which        issued on Sep. 9, 2008;    -   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL        INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS,        which issued on Dec. 16, 2008;    -   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN        ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;    -   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,        which issued on Jul. 13, 2010;    -   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE        IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;    -   U.S. patent application Ser. No. 11/343,803, entitled SURGICAL        INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No.        7,845,537;    -   U.S. patent application Ser. No. 12/031,573, entitled SURGICAL        CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed        Feb. 14, 2008;    -   U.S. patent application Ser. No. 12/031,873, entitled END        EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed        Feb. 15, 2008, now U.S. Pat. No. 7,980,443;    -   U.S. patent application Ser. No. 12/235,782, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.        8,210,411;    -   U.S. patent application Ser. No. 12/235,972, entitled MOTORIZED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,050,083.    -   U.S. patent application Ser. No. 12/249,117, entitled POWERED        SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY        RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;    -   U.S. patent application Ser. No. 12/647,100, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR        DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat.        No. 8,220,688;    -   U.S. patent application Ser. No. 12/893,461, entitled STAPLE        CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;    -   U.S. patent application Ser. No. 13/036,647, entitled SURGICAL        STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.        8,561,870;    -   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL        STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT        ARRANGEMENTS, now U.S. Pat. No. 9,072,535;    -   U.S. patent application Ser. No. 13/524,049, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,        filed on Jun. 15, 2012, now U.S. Pat. No. 9,101,358;    -   U.S. patent application Ser. No. 13/800,025, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Pat. No. 9,345,481;    -   U.S. patent application Ser. No. 13/800,067, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Patent Application Publication No. 2014/0263552;    -   U.S. Patent Application Publication No. 2007/0175955, entitled        SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER        LOCKING MECHANISM, filed Jan. 31, 2006; and    -   U.S. Patent Application Publication No. 2010/0264194, entitled        SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,        filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby        incorporated by reference herein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

What is claimed is:
 1. A surgical instrument assembly, comprising: a handle comprising printed circuit board; a shaft assembly defining a longitudinal shaft axis, wherein said shaft assembly is rotatable relative to said handle about said longitudinal shaft axis, and wherein said shaft assembly comprises: a shaft; an articulation joint; and an end effector attached to said shaft by said articulation joint; a camming member; and an orientation control system configured to determine the orientation of said shaft assembly relative to said handle, wherein said orientation control system comprises: a switch mounted on said printed circuit board, wherein said switch is switchable between an on position and an off position by said camming member when said shaft assembly is rotated relative to said handle about said longitudinal shaft axis, wherein said shaft assembly is rotatable through a first rotation range where said switch is held in said on position by said camming member and a second rotation range where said switch is in said off position, wherein said on position indicates a first orientation range of said end effector relative to said handle, wherein said off position indicates a second orientation range of said end effector relative to said handle, and wherein said second orientation range is different than said first orientation range.
 2. The surgical instrument assembly of claim 1, wherein said shaft assembly further comprises a proximal end opposite said end effector, wherein said proximal end comprises a proximal nozzle portion, and wherein said camming member comprises an inner cam surface of said proximal nozzle portion.
 3. The surgical instrument assembly of claim 2, wherein said inner cam surface comprises a first diameter portion corresponding to said first orientation range and a second diameter portion corresponding to said second orientation range, wherein said first diameter and said second diameter are different.
 4. The surgical instrument assembly of claim 3, wherein said handle comprises a top portion and a grip extending downwardly from a bottom portion, wherein said end effector comprises a first jaw and a second jaw movable relative to said first jaw, and wherein said first orientation range indicates said second jaw is orientated up relative to said first jaw and said second orientation range indicates said second jaw is orientated down relative to said first jaw.
 5. The surgical instrument assembly of claim 1, wherein said switch comprises a pivotable lever.
 6. The surgical instrument assembly of claim 1, wherein said switch is soldered to said printed control board.
 7. The surgical instrument assembly of claim 1, wherein said switch is fastened to said printed circuit board.
 8. The surgical instrument assembly of claim 1, wherein said switch is adhered to said printed circuit board.
 9. The surgical instrument assembly of claim 1, wherein said switch comprises surface mount electrical connections in communication with trace circuits defined in said printed circuit board.
 10. The surgical instrument assembly of claim 1, wherein said switch comprises pin electrical connections in communication with trace circuits defined in said printed circuit board.
 11. A surgical instrument assembly, comprising: a handle, comprising: an articulation actuator comprising a first control and a second control; and a printed circuit board; a shaft rotatable relative to said handle about a longitudinal axis; an articulation joint; an end effector articulatable relative to said shaft by way of said articulation joint, wherein said first control is actuatable to articulate said end effector in a first direction and said second control is actuatable to articulate said end effector in a second direction, and wherein said first direction and said second direction are different; and an articulation control system, wherein said first control and said second control are in communication with said articulation control system, wherein said articulation control system is configured to automatically switch the direction in which said first control and said second control articulate said end effector when the orientation of said shaft crosses a threshold orientation, and wherein said articulation control system comprises: a trigger; and a switch positioned on said printed circuit board, wherein said switch is switchable between a first state and a second state by said trigger when said shaft is rotated relative to said handle through said threshold orientation.
 12. The surgical instrument assembly of claim 11, wherein said shaft comprises a proximal nozzle portion, and wherein said trigger comprises an inner cam surface of said proximal nozzle portion.
 13. The surgical instrument assembly of claim 12, wherein said inner cam surface comprises a first diameter portion indicating a first orientation range of said shaft and a second diameter portion indicating a second orientation range of said shaft, wherein said first diameter and said second diameter are different.
 14. The surgical instrument assembly of claim 13, wherein said handle comprises an upper portion and a grip extending downwardly from a lower portion, wherein said end effector comprises a first jaw and a second jaw movable relative to said first jaw, and wherein said first orientation range indicates that said second jaw is orientated upward relative to said first jaw and said second orientation range indicates said second jaw is orientated downward relative to said first jaw.
 15. The surgical instrument assembly of claim 11, wherein said switch comprises a pivotable lever.
 16. The surgical instrument assembly of claim 11, wherein said trigger comprises a magnetic ring mounted to said shaft.
 17. The surgical instrument assembly of claim 16, wherein said switch comprises a Hall Effect switch.
 18. The surgical instrument assembly of claim 11, wherein said switch is soldered to said printed control board.
 19. The surgical instrument assembly of claim 11, wherein said switch is fastened to said printed circuit board.
 20. The surgical instrument assembly of claim 11, wherein said switch is adhered to said printed circuit board.
 21. The surgical instrument assembly of claim 11, wherein said switch comprises surface mount electrical connections in communication with trace circuits defined in said printed circuit board.
 22. The surgical instrument assembly of claim 11, wherein said switch comprises pin electrical connections in communication with trace circuits defined in said printed circuit board.
 23. The surgical instrument assembly of claim 11, wherein said end effector further comprises a staple cartridge.
 24. A surgical instrument assembly, comprising: a housing, comprising: an articulation actuator comprising a first control and a second control; and a printed circuit board; a shaft rotatable relative to said housing about a longitudinal axis; an articulation joint; an end effector articulatable relative to said shaft by way of said articulation joint, wherein said first control is actuatable to articulate said end effector in a first direction and said second control is actuatable to articulate said end effector in a second direction, and wherein said first direction and said second direction are different; and an articulation control system, wherein said first control and said second control are in communication with said articulation control system, wherein said articulation control system is configured to automatically flip the direction in which said first control and said second control articulate said end effector when the orientation of said shaft crosses a threshold orientation, and wherein said articulation control system comprises: a trigger; and a switch positioned on said printed circuit board, wherein said switch is switchable between a first state and a second state by said trigger when said shaft is rotated relative to said housing through said threshold orientation.
 25. The surgical instrument assembly of claim 24, wherein said housing is configured to be attached to a robotic surgical system.
 26. The surgical instrument assembly of claim 24, wherein said housing comprises a handle.
 27. The surgical instrument assembly of claim 24, wherein said end effector further comprises a staple cartridge. 